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PolyScope Manual Version 3.0 (rev. 15167)

1. Rename Q Simulation hed gt Speed 00 Previous Next o Real Robot This screen allows setting variable values before the program and any threads start executing Select a variable from the list of variables by clicking on it or by using the variable selector box For a selected variable an expression can be entered that will be used to set the variable value at program start If the Prefers to keep value from last run checkbox is selected the variable will be initialized to the value found on the Variables tab described in 12 30 This permits variables to maintain their values between program executions The vari able will get its value from the expression if the program is run for the first time or if the value tab has been cleared A variable can be deleted from the program by setting its name to blank only spaces Version 3 0 71 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 31 Command Variables Initialization CB3 II 72 Version 3 0 Setup Robot Initialize Robot Language and Units Update Robot Set Password Calibrate Screen Setup Network Polyscope 3 0 15226 Jul 23 2014 Set Time Back
2. A call to a sub program will run the program lines in the sub program and then return to the following line 12 18 Command Assignment File 142259 CCCC Program Installation Move I O Log lt unnamed gt Command Graphics Structure Variables ee Pattern a 4 PalletSequenc SATA Assignment 9 PatternPoin 5 Assigns the selected variable with the value of the expression Wait 0 01 Exit Variable Expression oe Destack StartPos 9 amp Direction var x 2 9 FromPos ToPos Rename ee PickSequence 9 StackPos Set Wait Waypoint Wait V Folder lt Comm Halt Popup V Loop o e lt empty gt Bl script var 2 force 4 Ill Simulation b Speed 710096 Previous Next gt o Real Robot CB3 II 54 Version 3 0 rev 15167 12 19 Command If UNIVERSAL ROBOTS Assigns values to variables An assignment puts the computed value of the right hand side into the variable on the left hand side This can be useful in complex programs 12 19 Command If File 14 23 01 CCCC Program Installation Move Log sunnamed gt Wait 0 01 9 Exit amp Destack 9 StartPos Direction 9 FromPos so PickSequen
3. J Wait 9 V Folder Comment Shared Parameters Halt Popup Tool Speed 10 mm s V Loop m e lt Tool Acceleration 1200 mm s Script z 3 0 gt Reset to defaults lt gt nl P Speed c 10096 Previous Next gt Real Robot The direction is given by two positions and is calculated as the position difference from the first positions TCP to the second positions TCP Note A direction does not consider the orientations of the points Next Stacking Position Expression The robot arm moves along the direction vector while continuously evaluating whether the next stack position has been reached When the expression is eval uated to True the special sequence is executed BeforeStart The optional BeforeStart sequence is run just before the operation starts This can be used to wait for ready signals AfterEnd The optional After End sequence is run when the operation is finished This can be used to signal conveyor motion to start preparing for the next stack Pick Place Sequence Like for the Pallet operation 12 25 a special program sequence is performed at each stack position 12 27 Command Suppress Suppressed program lines are simply skipped when the program is run A sup pressed line can be unsuppressed again at a later time This is a quick way t
4. Inputs Outputs simulation o Real Robot Inputs View the state of digital MODBUS client inputs Outputs View and toggle the state of digital MODBUS client outputs A signal can only be toggled if the choice for I O tab control described in 11 8 allows it 11 4 AutoMove Tab The AutoMove tab is used when the robot arm has to move to a specific position in its workspace Examples are when the robot arm has to move to the start position of a program before running it or when moving to a waypoint while modifying a program CB3 II 20 Version 3 0 11 4 AutoMove Tab UNIVERSAL ROBOTS o 14 22 51 CCCC Run Move Log Automove Move Robot into Position Hold down Auto to perform the movement shown Release the button to abort Push Manual to move the robot into position manually Auto Manual Speed c 710096 3 cancel Animation The animation shows the movement the robot arm is about to perform CAUTION Compare the animation with the position of the real robot arm and make sure that the robot arm can safely perform the movement without hitting any obstacles CAUTION The automove function moves in joint space not in linear Carte sian space Collision might damage the robot or other equipment Auto Hold down the Auto button to move the robot arm as shown in the animation
5. Initialize Robot Goes to the initialization screen see 9 4 Language and Units Configure the language and units of measurements for the user interface see 13 1 Update Robot Upgrades the robot software to a newer version see 13 2 Set Password Provides the facility to lock the programming part of the robot to people without a password see 13 3 Calibrate Screen Calibrates the touch of the touch screen see 13 4 Setup Network Opens the interface for setting up the Ethernet network for the robot control box see 13 5 Set Time Set the time and date for the system and configure the display for mats for the clock see 13 6 Back Returns to the Welcome Screen I 73 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 1 Language and Units 13 1 Language and Units Setup Robot Language Selection Initialize Robot Int l English v lv Language and Units Update Robot Units Selection Set Password Metric units 2 U S custom Calibrate Screen Setup Network Set Time Back Restart PolyScope for new settings to take effect Restart Now Language and units used in PolyScope can be selected on this screen The selected language will be used for the text visible on the various screens of PolyScope as well as in the emb
6. Log fl lt unnamed gt Wait V Folder lt empt Comment Halt Popup V Loop Bl Script var 1 2 for P Call SubProgram 1 Command a Force Feature Base Graphics Structure Variables Type Simple x The program part under this force command V If will be run in force mode In force mode the s Pallet p PalletSequence Force 0 01 N the teach button to test the force mode P SubProgram_1 Event lt empty gt V Thread 1 V Force X lt empty gt robot will be free in the direction of the beat selected feature to apply the specified force 1 Pattern Use the test button below in combination with Approach 9 PatternPoint Set Wait Ent Teach test 4 I lt gt 3 Q simulation all gt Pp Speed 00 Previous Next gt o Real Robot Feature selection The Feature menu is used to select the coordinate system axes the robot will use while it is operating in force mode The features in the menu are those which have been defined in the installation see 11 12 Force mode type The are four different types of force mode each determining the way in which the selected feature will be interpreted Simple Only one axis will be compliant in force mode The force along this axis is
7. Note Release the button to stop the motion at any time Manual Pushing the Manual button will take you to the MoveTab where the robot arm can be moved manually This is only needed if the movement in the animation is not preferable Version 3 0 II 21 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 11 5 Installation Load Save 11 5 Installation Load Save File 142314 CCCC Q Program Installation Move 1 0 Log TCP Configuration Load Save Robot Installation to File Mounting The Robot Installation covers all aspects of how the robot is placed in its working Setup environment It includes the mechanical mounting of the robot electrical connections to other equipment as well as all options on which the robot program depends It does not I A Safety include the program itself Variables MODBUS client Save the current installation Features default Default Program Save Save As Load Save Load a different installation file Load Create New The Robot Installation covers all aspects of how the robot arm and control box are placed in the working environment It includes the mechanical mounting of the robot arm electrical connections to other equipment as well as all options on which the robot program depends It d
8. Safety planes are visualized in yellow and black with a small arrow representing the plane normal which indicates the side of the plane on which the robot TCP is allowed to be positioned Trigger planes are displayed in blue and green and a small arrow pointing to the side of the plane where the Normal mode limits see 14 5 are active The tool orientation boundary limit is visualized with a spherical cone together with a vector indicating the current orientation of the robot tool The inside of the cone represents the allowed area for the tool orientation vector Version 3 0 rev 15167 II 17 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 11 1 Move Tab When the robot TCP no longer is in the proximity of the limit the 3D representation disappears If the TCP is in violation or very close to violating a boundary limit the visualization of the limit turns red 11 1 2 Feature and Tool Position At the top right part of the screen the feature selector can be found It defines which feature to control the robot arm relative to while below it the boxes display the full coordinate value for the tool relative to the selected feature Values can be edited manually by clicking on the coordinate or the joint position This will take you to the pose editor screen see 10 4 where you can specify a target position
9. UNIVERSAL ROBOTS 14 9 General Limits Here each of the general limits described in 14 9 can be modified independently of the others This is done by tapping the corresponding text field and entering the new value The highest accepted value for each of the limits is listed in the column titled Maximum The force limit can be set to a value between 100N and 250N and the power limit can be set to a value between 80W and 1000W Note that the fields for limits in Reduced mode are disabled when neither a safety plane nor a configurable input is set to trigger it see 14 11 and 14 12 for more de tails Furthermore the Speed and Momentum limits in Reduced mode must not be higher than their Normal mode counterparts The tolerance and unit for each limit are listed at the end of the row that corre sponds to it When a program is running the speed of the robot arm is automati cally adjusted in order to not exceed any of the entered values minus the tolerance see 14 3 Note that the minus sign displayed with the tolerance value is only there to indicate that the tolerance is subtracted from the actual entered value The safety system performs a category 0 stop should the robot arm exceed the limit without tolerance WARNING The speed limit is imposed only on the robot TCP so other parts of the robot arm may move faster than the defined value Switching to Basic Settings Pressing Basic Settings button switches back to
10. 13 5 Setup Network Setup Robot Setup Network Initialize Robot _ Select your network method DHCP Language and Units Static Address Disabled network Update Robot Network detailed settings Senne eae IP address 0 0 0 0 Subnet mask 0 0 0 0 Calibrate Screen Default gateway 0 0 0 0 Setup Network Preferred DNS server 0 0 0 0 B Alternative DNS server 0 0 0 0 Set Time _ Apply Update Back Version 3 0 77 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 6 Set Time Panel for setting up the Ethernet network An Ethernet connection is not necessary for the basic robot functions and is disabled by default 13 6 Set Time Setup Robot Initialize Robot Language and Units Update Robot Set Password Calibrate Screen Setup Network Set Time Back Set Time Time format Please select the current time 24 hour 12 hour 14 22 44 Set Date Please select today s date July 23 2014 Date format amp July 23 2014 Q Jul 23 2014 7 23 14 Restart PolyScope for new settings to take effect Restart Now Set the time and date for the system and configure the display formats for the
11. In this tab you can configure boundary limits consisting of safety planes and a limit on the maximum allowed deviation of the robot tool orientation It is also possible to define planes that trigger a transition into Reduced mode Safety planes can be used to restrict the allowed workspace of the robot by enforc ing that the robot TCP stay on the correct side of the defined planes and not pass through them Up to eight safety planes can be configured The constraint on the orientation of tool can be utilized to ensure that the robot tool orientation does not deviate more than a certain specified amount from a desired orientation WARNING Defining safety planes only limits the TCP and not the overall limit for the robot arm This means that although a safety plane is spec ified it does not guarantee that other parts of the robot arm will obey this restriction The configuration of each boundary limit is based on one of the features defined in the current robot installation see 11 12 CB3 II 88 Version 3 0 14 11 Boundaries UNIVERSAL ROBOTS NOTE It is highly recommended that you create all features needed for the configuration of all the desired boundary limits and assign them appropriate names before editing the safety configuration Note that since the robot arm is powered off once the Safety tab has been unlocked the Tool feature containing the current position and orientation of the robot TCP as well as
12. runs moveP will move the tool linearly with constant speed with circular blends and is intended for some process operations like gluing or dispensing The size of the blend radius is by default a shared value between all the way points A smaller value will make the path turn sharper whereas a higher value will make the path smoother While the robot arm is moving through the waypoints with constant speed the robot control box cannot wait for ei ther an I O operation or an operator action Doing so might stop the robot arm s motion or cause a protective stop A Circle Move can be added to a moveP command consisting of two way points the first one specifying a via point on the circular arc and the sec ond one being the endpoint of the movement The robot will start the circle movement from its current position and then move through the two specified waypoints The orientation change of the tool through the circle move is de termined only by the starting orientation and the orientation at the endpoint so the orientation of the via point does not influence the circle move A Circle Move must always be preceeded by a waypoint under the same moveP Version 3 0 II 43 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 5 Command Move 3 oO o jor N Cruise Deceleration Acceleration
13. 9 Touch the On button on the touch screen Wait a few seconds until robot state changes to Idle 10 Verify that the payload mass and selected mounting are correct You will be notified if the mounting detected based on sensor data does not match the selected mounting 11 Touch the Start button on the touch screen The robot now makes a sound and moves a little while releasing the brakes 12 Touch the OK button bringing you to the Welcome screen 9 1 5 The First Program A program is a list of commands telling the robot what to do PolyScope allows people with only little programming experience to program the robot For most tasks programming is done entirely using the touch panel without typing in any cryptic commands Since tool motion is an important part of a robot program a way of teaching the robot how to move is essential In PolyScope motions of the tool are given using a series of waypoints i e points in the robot s workspace A waypoint can be given by moving the robot to a certain position or it can be calculated by software In order to move the robot arm to a certain position use either the Move tab see 11 1 or simply pull the robot arm into place while holding the teach button at the back side of the teach pendant Besides moving through waypoints the program can send I O signals to other ma chines at certain points in the robot s path and perform commands like if then and loop based on varia
14. Before working near the robot make sure that the safety configura tion is as expected This can be verified e g by inspecting the checksum in the top right corner of the PolyScope see 14 4 in the PolyScope Manual 14 2 Safety Synchronization and Errors The state of the applied Safety configuration in comparison to what robot installa tion the GUI has loaded is depicted by the shield icon next to the text Safety on the left side of the screen These icons provide a quick indicator to the current state They are defined below CB3 II 80 Version 3 0 14 3 Tolerances UNIVERSAL ROBOTS Configuration Synchronized Shows the GUI installation is identical to the cur rently applied Safety configuration No changes have been made Configuration Altered Shows the installation is different from the currently applied Safety configuration When editing the Safety configuration the shield icon will inform you whether or not the current settings have been applied If any of the text fields in the Safety tab contain any invalid input the Safety configuration is in an error state This is indicated in several ways A red error icon is displayed next to the text Safety on the left side of the screen The subtab s with errors are marked with a red error icon at the top Text fields containing errors are marked with a red background When errors exist and attempting to navigate away from the Installati
15. MODBUS client I O Setup Delete signal Push this button to delete a MODBUS signal from the corresponding MODBUS unit Set signal type Use this drop down menu to choose the signal type Available types are Digital input A digital input coil is a one bit quantity which is read from the MODBUS unit on the coil specified in the address field of the signal Function code 0x02 Read Discrete Inputs is used Digital output A digital output coil is a one bit quantity which can be set to either high or low Before the value of this output has been set by the user the value is read from the remote MODBUS unit This means that function code 0x01 Read Coils is used When the output has been set by a robot program or by pressing the set signal value button the function code 0x05 Write Single Coil is used onwards Register input A register input is a 16 bit quantity read from the address specified in the address field The function code 0x04 Read Input Registers is used Register output A register output is a 16 bit quantity which can be set by the user Before the value of the register has been set the value of it is read from the remote MODBUS unit This means that function code 0x03 Read Holding Registers is used When the output has been set by a robot program or by specifying a signal value in the set signal value field function code 0x06 Write Single Register is used to set the value on the remote
16. 0 II 16 CB3 11 1 Move Tab On this screen you can always move jog the robot arm directly either by translat ing rotating the robot tool or by moving robot joints individually File 14 23 04 CCCC Q Program Installation Move Log Move Tool Robot Feature View v Tool Position 120 11 mm 4316 mm 253 93 mm 0 0012 31664 0 0395 2E lt 2 N Move Joints Home Base 91 71 s Shoulder SENI 98 96 Elbow 126 22 Teach Wrist 1 46 29 Wrist 2 91 398 Wrist 3 1 7 o 252995 I Speed 100 Cancel o Real Robot 11 1 1 Robot The current position of the robot arm is shown in 3D graphics Push the magnifying glass icons to zoom in out or drag a finger across to change the view To get the best feel for controlling the robot arm select the View feature and rotate the viewing angle of the 3D drawing to match your view of the real robot arm If the current position of the robot TCP comes close to a safety or trigger plane or the orientation of robot tool is near the tool orientation boundary limit see 14 11 a 3D representation of the proximate boundary limit is shown Note that when the robot is running a program the visualization of boundary limits will be disabled
17. 7 o wait for lt An Input gt x gt x 0 0 Amps Wait for o Simulation eo P Speed 10096 Previous Next gt o Real Robot Waits for a given amount of time or for an I O signal 12 11 Command Set File 142256 CCCC Program Installation Move Log lt unnamed gt Command I Graphics Structure Variables V Robot Program V Movej Waypoint V Moves Waypoint Set e Pallet ee Pattern s PalletSequenc Approach 9 PatternPoin Set Wait 9 Exit ee Destack 9 StartPos ee Direction 9 FromPos 9 ToPos s PickSequence 9 StackP 5 aci C Set the total payload to 0 00 kg Wait 9 Waypoint Wait D gt Perform action now Set Select the action you wish the robot to perform at this point in the program You can also specify changes in the robot s payload o G No Action Q set Digital Output spi output x off t Q set Analog Output An Output 7 40 Q set lt output gt 7 o Increment installation variable by one lt Variable gt 7 9 V Folder simulation KM Speed 100 Previous Next 8 o Real Robot Sets eithe
18. Base B Shoulder C Elbow and D Wrist 1 2 3 Version 3 0 II 3 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 9 1 Getting Started 5 Plug in the mains plug of the control box WARNING Tipping hazard If the robot is not securely placed on a sturdy surface the robot can fall over and cause an injury Detailed installation instructions can be found in the Hardware Installation Man ual Note that a risk assessment is required before using the robot arm to do any work 9 1 2 Turning the Control Box On and Off The control box is turned on by pressing the power button at the front side of the panel with the touch screen This panel is usually referred to as the teach pendant When the control box is turned on text from the underlying operating system will appear on the touch screen After about one minute a few buttons appear on the screen and a popup guides the user to the initialization screen see 9 4 To shut down the control box press the green power button on the screen or use the Shut Down button on the welcome screen see 9 3 WARNING Shutting down by pulling the power cord from the wall socket may cause corruption of the robot s file system which may result in robot malfunction 9 1 3 Turning the Robot Arm On and Off The robot arm can be turned on if the control b
19. CB3 52 Version 3 0 rev 15167 12 17 Command SubProgram UNIVERSAL ROBOTS Loops the underlying program commands Depending on the selection the under lying program commands are either looped infinitely a certain number of times or as long as the given condition is true When looping a certain number of times a dedicated loop variable called Loop_1 in the screen shot above is created which can be used in expressions within the loop The loop variable counts from 0 to N 1 When looping using an expression as end condition PolyScope provides an option for continuously evaluating that expression so that the loop can be interrupted anytime during its execution rather than just after each iteration 12 17 Command SubProgram File 14 23 00 CCCC Program Installation Move Log lt unnamed gt Command Graphics Structure Variables Set a SubProgram_1 9 Exit EJ 9 s Destack A subprogram can either point to a file on disk or can be contained in this program 9 StartPos amp Direction 9 FromPos k No File Selected gt ToPos ee PickSequence Load File StackPos Set Wait 9 Waypoint Wait V Folder SubProgram file ps empty Comment Halt Popup V Loop e lt empty gt Bl script r S var 1 2 for Save SubProgram P Call SubProgram 1 V If Clear Su
20. Command Pattern 12 24 Command Force 12 25 Command Pallet 12 26 Command Seek 12 27 Command Suppress 12 28 Graphics Tab 12 29 Structure Tab 12 30 Variables Tab n 12 31 Command Variables Initialization 13 Setup Screen 13 1 Language and Units 13 2 Update Robot 13 3 Set Password 13 4 Calibrate Screen 13 5 Setup Network 13 6 Set Time II 35 II 36 II 38 II 39 II 39 II 40 II 41 II 42 II 42 II 45 II 45 II 47 II 48 II 49 II 49 II 50 II 51 II 51 I 52 Il 52 Il 53 II 54 II 55 II 56 II 57 II 58 II 58 II 60 II 63 II 64 II 67 II 68 II 69 II 70 II 71 II 73 II 74 II 75 II 76 II 77 II 77 II 78 CB3 iv Version 3 0 UNIVERSAL ROBOTS 14 Safety Configuration 79 14 1 Changing the Safety Configuration II 80 14 2 Safety Synchronization and Errors II 80 14 3 Tolerances II 81 14 4 Safety Checksum II 82 145 Safety Modes 82 14 6 Teach Mode II 83 14 7 Password Lock II 83 14 8 Apply II 83 149 General Limits II 84 14 10 Joint Limits II 87 14 11 Boundaries PE II 88 14 11 1 Selecting a boundary to configure II 89 14 11 2 3D visualization II 89 14 11 3 Safety plane configuration II 90 14 11 4 Tool Boundary configuration 93 14 12 Safety I O II 95 Version 3 0 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 1 5 S v sioqog jesienum Aq L02 6002 1 Versio
21. However if the Version 3 0 II 45 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 7 Setting the waypoint waypoint has a blend radius the following I O command is executed when the robot arm enters the blend Example Program Starting point movel WaypointStart Straight line segment Waypoint Waypoint2 if digital_input 1 then Waypoint 1 WaypointEndl 5 cm blend else WaypointEnd2 Straight line segment endif Waypoint 2 10 cm blend This is where the input port is read Ending point 2 Ending point 1 A small example in which a robot program moves the tool from a starting position to one of two ending positions depending on the state of digital input 1 Notice that the tool trajectory thick black line moves in straight lines outside the blend areas dashed circles while the tool trajectory deviates from the straight line path inside the blend areas Also notice that the state of the digital input 1 sensor is read just as the robot arm is about to enter the blend area around Waypoint 2 even though the if then command is after Waypoint 2 in the program sequence This is somewhat counter intuitive but is necessary to select the right blend path CB3 II 46 Version 3 0 12 8 Command Relative Waypoint UNIVERSAL ROBOTS 12 8 Command Relativ
22. Program installation Move Log are Robot Mounting and Angle Mounting T Setup Qs Safety im Variables i MODBUS client Features Tilt Default Program 45 Load Save re 0 0 y 45 Rotate Robot Base Mounting 45 lt 0 0 gt 45 gt the mounting of the robot arm can be specified This serves two purposes 1 Making the robot arm look right on the screen 2 Telling the controller about the direction of gravity The controller uses an advanced dynamics model to give the robot arm smooth and precise motions and to make the robot arm hold itself when in Teach mode For this reason it is very important that the mounting of the robot arm be set correctly WARNING Failure to set robot arm s mounting correctly might result in fre quent protective stops and or a possibility that the robot arm will move when the teach button is pressed The default is that the robot arm is mounted on a flat table or floor in which case no change is needed on this screen However if the robot arm is ceiling mounted wall mounted or mounted at an angle this needs to be adjusted using the push buttons The buttons on the right side of the screen are for setting the angle of the robot arm s mounting The three top right side buttons set the angle to ceiling 180 wall 90 floor 0 The Tilt buttons can be used to set an arbitrary angle The bu
23. Version 3 0 rev 15167 11 12 Installation Features UNIVERSAL ROBOTS Add Plane Push this button to add a plane feature to the installation A plane is defined by three sub point features The position of the coordinate system is the same as the position for the first sub point The z axis is the plane normal and the y axis is directed from the first point towards the second The positive direction of the z axis is set so that the angle between the z axis of the plane and the z axis of the first point is less than 180 degrees File Program Installation Move 1 0 Log TCP Configuration Mounting Setup 9 Safety Variables MODBUS client Features Base Tool 4 Plane 1 X Point 1 X Point 2 X Point 3 Default Program Load Save 14 23 39 CCCC Q v Show axes v Joggable Variable Plane l Rename Delete Move robot here Version 3 0 rev 15167 33 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 11 13 Installation Default Program 11 13 Installation Default Program File 14 23 14 CCCC Program Installation Move Log TCP Configuration Set Default Program Mounting Setup Default Program File vh Safety Automat
24. a Force command will be in Force mode When the robot arm is moving in force mode it is possible to select one or more axes in which the robot arm is compliant Along around compliant axes the robot arm will comply with the environment which means it will automatically adjust its position in order to achieve the desired force It is also possible to make the robot arm itself apply a force to its environment e g a workpiece Force mode is suited for applications where the actual tcp position along a prede fined axis is not important but in stead a desired force along that axis is required For example if the robot TCP should roll against a curved surface or when pushing or pulling a workpiece Force mode also supports applying certain torques around predefined axes Note that if no obstacles are met in an axis where a non zero force is set the robot arm will try to accelerate along about that axis Although an axis has been selected to be compliant the robot program will still try to move the robot along around that axis However the force control assures that the robot arm will still approach the specified force WARNING If the force function is used incorrectly it can produce a force of more than 150N The programmed force shall be taken into con sideration during risk assessment CB3 II 60 Version 3 0 12 24 Command Force UNIVERSAL ROBOTS File 14 23 10 CCCC Program Installat ion Move
25. a program might not be able to perform motions very close to a limit e g the robot may not be able to obtain the exact maximum speed specified by a joint speed limit or the TCP speed limit Version 3 0 II 81 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 14 5 Safety Modes WARNING A risk assessment is always required using the limit values with out tolerances WARNING Tolerances are specific to the version of the software Updating the software may change the tolerances Consult the release notes for changes between versions 14 4 Safety Checksum The text in the top right corner of the screen gives a shorthand representation of the safety configuration currently used by the robot When the text changes this indicates that the current safety configuration has changed as well Clicking on the checksum displays the details about the currently active safety configuration 14 5 Safety Modes Under normal conditions i e when no protective stop is in effect the safety system operates in one of the following safety modes each with an associated set of safety limits Normal mode The safety mode that is active by default Reduced mode Active when the robot TCP is positioned beyond a Trigger Reduced mode plane see 14 11 or when triggered using a configurable input see 14 12 Recovery
26. aL c 38 ToPos 6 a amp PickSequence StackPos 7i amp Set 4 Wait 1 oe re CS Waypoint z ORDE Il Cee Q simulation 4 gt B Previous Next Real Robot gt A Box pattern uses three vectors to define the side of the box These three vectors are given as four points where the first vector goes from point one to point two the second vector goes from point two to point three and the third vector goes from point three to point four Each vector is divided by the interval count numbers A specific position in the pattern is calculated by simply adding the interval vectors proportionally The Line and Square patterns work similarly A counter variable is used while traversing the positions of the pattern The name of the variable can be seen on the Pattern command screen The variable cycles Version 3 0 II 59 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 24 Command Force through the numbers from 0 to X Y x Z 1 the number of points in the pattern This variable can be manipulated using assignments and can be used in expres sions 12 24 Command Force Force mode allows for compliance and forces in selectable axis in the robot s workspace All robot arm movements under
27. adjustable The desired force will always be applied along the z axis of the selected feature However for Line features it is along their y axis Frame The Frame type allows for more advanced usage Here compliance and forces in all six degrees of freedom can be independently selected Point When Point is selected the task frame has the y axis pointing from the robot TCP towards the origo of the selected feature The distance between the robot TCP and the origo of the selected feature is required to be at least 10 mm Note that the task frame will change at runtime as the position of the robot TCP changes The x and z axis of the task frame are dependent on the original orientation of the selected feature Motion Motion means that the task frame will change with the direction of the TCP motion The x axis of the task frame will be the projection of the TCP movement direction onto the plane spanned by the x and y axis of the selected feature The y axis will be perpendicular to the robot arm s motion and in the x y plane of the selected feature This can be usefull when debur ring along a complex path where a force is needed perpendicular to the TCP Version 3 0 II 61 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 24 Command Force motion Note when the robot arm is not moving If force mode is entered w
28. arm and the shadow of the robot arm shows how the robot arm intends to reach the waypoint selected in the left hand side of the screen If the current position of the robot TCP comes close to a safety or trigger plane or the orientation of robot tool is near the tool orientation boundary limit see 14 11 a 3D representation of the proximate boundary limit is shown Note that when the robot is running a program the visualization of boundary limits will be disabled Safety planes are visualized in yellow and black with a small arrow representing the plane normal which indicates the side of the plane on which the robot TCP is allowed to be positioned Trigger planes are displayed in blue and green and a small arrow pointing to the side of the plane where the Normal mode limits see 14 5 are active The tool orientation boundary limit is visualized with a spherical cone together with a vector indicating the current orientation of the robot tool The inside of the cone represents the allowed area for the tool orientation vector When the target robot TCP no longer is in the proximity of the limit the 3D repre sentation disappears If the TCP is in violation or very close to violating a boundary limit the visualization of the limit turns red CB3 II 68 Version 3 0 12 29 Structure Tab UNIVERSAL ROBOTS The 3D view can be zoomed and rotated to get a better view of the robot arm The buttons in the top right side of the screen
29. can disable the various graphical components in the 3D view The bottom button switches on off the visualization of proximate boundary limits The motion segments shown depend on the selected program node If a Move node is selected the displayed path is the motion defined by that move If a Waypoint node is selected the display shows the following 10 steps of movement 12 29 Structure Tab Q File 14 22 53 CCCC Program Installation Move 0 Log lt unnamed gt Command Graphics Structure Variables V Robot Program lt empty gt Program Structure Editor Insert Basic Advanced Wizards Move Waypoint Wait Set After x selected Popup Halt Comment Folder Edit Move Paste after v selected Move Cut Delete Suppress Lel lt gt E P Speed 10096 Previous Next o Real Robot L The program structure tab gives an opportunity for inserting moving copying and removing the various types of commands To insert new commands perform the following steps 1 Select an existing program command 2 Select whether the new command should be inserted above or below the se lected command 3 Press the button for the command type you wish to insert For adjusting the details for the new co
30. clock The clock is displayed at the top of the Run Program and Program Robot screens Tapping on it will show the date briefly The GUI needs to be restarted for changes to take effect CB3 II 78 Version 3 0 The robot is equipped with an advanced safety system Depending on the particu lar characteristics of its workspace the settings for the safety system must be config ured to guarantee the safety of all personnel and equipment around the robot For details on the safety system see the Hardware Installation Manual The Safety Configuration screen can be accessed from the Welcome screen see 9 3 by pressing the Program Robot button selecting the Installation tab and tap ping Safety The safety configuration is password protected see 14 7 File ar Ol amp Program Installation Move 1 0 Log Pe configuration Safety Configuration Mounting General Limits Joint Limits Boundaries Safety I O Setup A risk assessment always required JA Safety Select Safety Preset Variables Default MODBUS client Features Very restricted Intended to be used where it is particularly dangerous for the Default Program robot arm or its payload to hit a human Load Save Restricted Intended to be used where there is a big risk of the robot arm or its payload hitting a human and the robot arm along with its payoad has no sharp edges Default Intended to be used
31. displays the program as a list of com mands while the area on the right side of the screen displays information relating to the current command The current command is selected by clicking the com mand list or by using the Previous and Next buttons on the bottom right of the screen Commands can be inserted or removed using the St ructure tab de scribed in 12 29 The program name is shown directly above the command list with a small disk icon that can be clicked to quickly save the program The lowest part of the screen is the Dashboard The Dashboard features a set of but tons similar to an old fashioned tape recorder from which programs can be started and stopped single stepped and restarted The speed slider allows you to adjust the program speed at any time which directly affects the speed at which the robot arm moves Additionally the speed slider shows in real time the relative speed at which the robot arm moves taking into account the safety settings The indicated percent age is the maximum achievable speed for the running program without faulting the safety system To the left of the Dashboard the Simulation and Real Robot buttons toggle be tween running the program in a simulation or running it on the real robot When running in simulation the robot arm does not move and thus cannot damage itself or any nearby equipment in collisions Use simulation to test programs if unsure about what the robot arm will do CB3 II 4
32. low higher general limits enable the robot to move faster and exert more force on its environment For further details see 14 9 The Joint Limits subtab consists of joint speed and joint position limits The joint speed limits define the maximum angular velocity of individual joints and serve to further limit the speed of the robot arm The joint position limits define the allowed position range of individual joints in joint space For further details see 14 10 The Boundaries subtab defines safety planes in Cartesian space and a tool orientation boundary for the robot TCP The safety planes can be configured either as hard limits for the position of the robot TCP or triggers for activating the Reduced mode safety limits see 14 5 The tool orientation boundary puts a hard limit on the orientation of the robot TCP For further details see 14 11 e The Safety I O subtab defines safety functions for configurable inputs and outputs see 11 2 For example Emergency Stop can be configured as an input For further details see 14 12 14 1 Changing the Safety Configuration NOTE The recommended procedure for changing the safety configura tion is as follows 1 Make a risk assessment 2 Adjust safety settings to the appropriate level refer to rele vant directives and standards from our manual on how to set the safety limits 3 Test the setting on the robot 4 Put the following text in the operators manuals
33. or if the safety input is configured with a Reduced Mode input and the signal is currently low Otherwise the signal is high e Not Reduced Mode This is the inverse of the Reduced Mode defined above CB3 II 96 Version 3 0
34. robot remembers the position and performs the special sequence The next time round the robot starts the search from the remembered position incremented by the item thickness along the direction The stacking is finished when the stack hight is more than some defined number or when a sensor gives a signal Version 3 0 II 65 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 26 Command Seek Destacking Q File 14 22 55 CCCC Program Installation Move Log lt unnamed gt Command Graphics Structure Variables V Robot Program a V Move Destack Waypoint V Movej Destacking remove items one by one from a stack he stack is defined by the following of parameters 9 Waypoint 4 5 Set s The starting position e Pallet d The direction of the stack d ee Pattern i The item thickness ee PalletSequence js 9 Approach PatternPoint Set Wait 9 Exit oo Destack 9 StartPos so Direction E The next position is found when V Folder fod e lt empty gt Comment Halt Item thickness Shared Parameters Popup Es V Loop Tool Speed 250 mm s Cp mx Tool Acceleration 1200 m
35. the button is down the larger the increase decrease will be Joint positions Allows the individual joint positions to be specified directly Each joint position can have a value in the range from 360 to 360 which are the joint limits Values can be edited by clicking on the joint position Clicking on the or buttons just to the right of a box allows you to add or subtract an amount to from the current value Pressing and holding down a button will directly increase decrease the value The longer the button is down the larger the increase decrease will be CB3 14 Version 3 0 10 4 Pose Editor Screen UNIVERSAL ROBOTS OK button If this screen was activated from the Move tab see 11 1 clicking the OK button will return to the Move tab where the robot arm will move to the specified target If the last specified value was a tool coordinate the robot arm will move to the target position using the MoveL movement type while the robot arm will move to the target position using the Move movement type if a joint position was specified last The different movement types are described in 12 5 Cancel button Clicking the Cancel button leaves the screen discarding all changes Version 3 0 II 15 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved 10 4 Pose Editor Screen UNIVERSAL ROBOTS penJesei suu Iv S v s ogoy jesienum Aq 102 6002 1 Version 3
36. the program is stopped The following variable types are available bool A boolean variable whose value is either True or False int A whole number in the range from 32768 to 32767 float A floating point number decimal string A sequence of characters pose vector describing the location and orientation in Cartesian space It is a combination of a position vector x y z and a rotation vec tor rx ry rz representing the orientation written p x y z rx fy z list A sequence of variables Version 3 0 II 41 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 5 Command Move 12 4 Command Empty File 142255 CCCC Program Installation Move 1 0 Log lt unnamed gt Command I Graphics Structure Variables V Robot Program Ea Insert program lines here In the Structure tab you will find various program statements that can be inserted Structure 4 lt gt Stale Ke gt Speed c 1 100 Previous Next gt Q real Robot Program commands need to be inserted here Press the Structure button to go to the structure tab where the various selectable program lines can be found A program cannot run before all
37. where people are aware of the robot arm and its payload and or when application has no sharp edges and no pinching hazards Least restricted Intended to be used where there is little risk of the robot arm or its payload hitting a human such as 1 Inside CNC machines 2 behind fences 3 hard to reach places Advanced Settings Safety password Unlock Lock Apply WARNING 1 A risk assessment is always required 2 Allsafety settings accessible on this screen and its subtabs are required to be set according to the risk assessment 3 The integrator is required to ensure that all changes to the safety settings are done in agreement with the risk assess ment The safety settings consist of a number of limit values used to constrain the move ments of the robot arm and of safety function settings for the configurable inputs and outputs They are defined in the following subtabs of the safety screen Version 3 0 79 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 14 2 Safety Synchronization and Errors The General Limits subtab defines the maximum force power speed and momentum of the robot arm When the risk of hitting a human or colliding with a part of its environment is particularly high these settings need to be set to low values If the risk is
38. 0 Version 3 0 12 3 Variables UNIVERSAL ROBOTS DANGER 1 Make sure to stay outside the robot workspace when the Play button is pressed The movement you programmed may be different than expected 2 Make sure to stay outside the robot workspace when the Step button is pressed The function of the Step button can be difficult to understand Only use it when it is absolutely necessary 3 Make sure to always test your program by reducing the speed with the speed slider Logic programming errors made by the integrator might cause unexpected movements of the robot arm While the program is being written the resulting motion of the robot arm is illus trated using a 3D drawing on the Graphics tab described in 12 28 Next to each program command is a small icon which is either red yellow or green A red icon means that there is an error in that command yellow means that the command is not finished and green means that all is OK A program can only be run when all commands are green 12 3 Variables A robot program can make use of variables to store and update various values during runtime Two kinds of variables are available Installation variables These can be used by multiple programs and their names and values are persisted together with the robot installation see 11 10 for further details Regular program variables These are available to the running program only and their values are lost as soon as
39. 3 A value contained in the query data field is not an allowable value for server or slave check that the enterd signal value is valid for the specified address on the remote MODBUS server E4 SLAVE DEVICE FAILURE 0x04 An unrecoverable error occurred while the server or slave was attempting to perform the requested action E5 ACKNOWLEDGE 0x05 Specialized use in conjunction with program ming commands sent to the remote MODBUS unit E6 SLAVE DEVICE BUSY 0x06 Specialized use in conjunction with pro gramming commands sent to the remote MODBUS unit the slave server is not able to respond now Show Advanced Options This check box shows hides the advanced options for each signal Advanced Options Update Frequency This menu can be used to change the update frequency of the signal This means the frequency with which requests are sent to the remote MODBUS unit for either reading or writing the signal value Slave Address This text field can be used to set a specific slave address for the requests corresponding to a specific signal The value must be in the range 0 255 both included and the default is 255 If you change this value it is recommended to consult the manual of the remote MODBUS device to verify its functionality when changing slave address Version 3 0 29 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All righ
40. Box can be used for positions in a regular pattern The regular patterns are de fined by a number of characteristic points where the points define the edges of the pattern For Line this is the two end points for Square this is three of the four corner points where as for Box this is four of the eight corner points The pro grammer enters the number of positions along each of the edges of the pattern The robot controller then calculates the individual pattern positions by proportionally adding the edge vectors together If the positions to be traversed do not fall in a regular pattern the List option can be chosen where a list of all the positions is provided by the programmer This way any kind of arrangement of the positions can be realized Defining the Pattern When the Box pattern is selected the screen changes to what is shown below File 142307 CCCC Program Installation Move Log lt unnamed gt Command Graphics Structure Variables amp Pallet L4 ee Pattern Box 9 alst Corner a2nd Corner 9 a3rd Corner 9 a4th Corner 9 a5th Corner 9 a6th Corner 9 a7th Corner aBth Corner 4 PalletSequence Approach PatternPoint Set a8th Corner 1 rename Change this Position Move robot here Wait 0 01 A 9 Exit ee Destack 9 StartPos amp amp Direction em FromPos
41. I Os previously de fined There are 3 Safety functions for input signals and 4 for output signals Input Signals For input signals the following Safety functions can be selected Emergency Stop When selected this allows the option of having an alter native Emergency Stop button in inclusion of the one that is on the Teach Pendant This will provide the same functionality that the Emergency Stop button provides on the Teach Pendant when a device complying with ISO 13850 2006 is attached Reduced Mode All safety limits have two modes in which they can be ap plied Normal mode which specifies the default safety configuration and Re duced mode see 14 5 for more details When this input safety function is selected a low signal given to the inputs causes the safety system to transi tion to Reduced mode If necessary the robot arm then decelerates to satisfy the Reduced mode limit set Should the robot arm still violate any of the Re duced mode limits it performs a category 0 stop The transition back to Normal mode happens in the same manner Note that safety planes can also cause a transition to Reduced mode see 14 11 3 for more details Version 3 0 II 95 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 14 12 Safety I O Safeguard Reset If Safeguard Stop is wired in the safety I Os then Safe
42. Installation variables are special because they keep their value even if a program is stopped and then started again and when the robot arm and or control box is powered down and powered up again Their names and values are stored with the installation so it is possible to use the same variable in multiple programs Create new installation variable Name Value i var 1 Cancel Pressing Create New will bring up a panel with a suggested name for the new variable The name may be changed and its value may be entered by touching either text field The OK button can only clicked if the new name is unused in this installation It is possible to change the value of an installation variable by highlighting the variable in the list and then clicking on Edit Value To delete a variable select it in the list then click Delete After configuring the installation variables the installation itself must be saved to keep this configuration see 11 5 The installation variables and their values are also saved automatically every 10 minutes If a program or an installation is loaded and one or more of the program variables have the same name as the installation variables the user is presented with two CB3 II 26 Version 3 0 11 11 Installation MODBUS client I O Setup UNIVERSAL ROBOTS options to resolve the issue either use the installation variables of the same name instead of the program variable o
43. MODBUS unit Set signal address This field shows the address on the remote MODBUS server Use the on screen keypad to choose a different address Valid addresses depends on the manufacturer and configuration of the remote MODBUS unit Set signal name Using the on screen keyboard the user can give the signal a name This name is used when the signal is used in programs Signal value Here the current value of the signal is shown For register signals the value is expressed as an unsigned integer For output signals the desired signal value can be set using the button Again for a register output the value to write to the unit must be supplied as an unsigned integer Signal connectivity status This icon shows whether the signal can be properly read written green or if the unit responds unexpected or is not reachable gray If a MODBUS exception re CB3 II 28 Version 3 0 11 11 Installation MODBUS client I O Setup UNIVERSAL ROBOTS sponse is received the response code is displayed The MODBUS TCP Exception responses are E1 ILLEGAL FUNCTION 0x01 The function code received in the query is not an allowable action for the server or slave E2 ILLEGAL DATA ADDRESS 0x02 The function code received in the query is not an allowable action for the server or slave check that the entered signal address corresponds to the setup of the remote MODBUS server E3 ILLEGAL DATA VALUE 0x0
44. Teach mode see 11 1 5 will not be available When in Teach mode see 11 1 5 and the current position of the robot TCP is close to a safety plane or the deviation of the orientation of the robot tool from the de sired orientation is close to the specified maximum deviation the user will feel a repelling force which increases in magnitude as the TCP approaches the limit The force is generated when the TCP is within approximately 5 cm of a safety plane or the deviation of the orientation of the tool is approximately 3 from the specified maximum deviation When a plane is defined as a Trigger Reduced mode plane and the TCP goes beyond this boundary the safety system transitions into Reduced mode which applies the Reduced mode safety settings Trigger planes follow the same rules as regular safety planes except they allow the robot arm to pass through them 14 11 1 Selecting a boundary to configure The Safety Boundaries panel on the left side of the tab is used to select a boundary limit to configure To set up a safety plane click on one of the top eight entries listed in the panel If the selected safety plane has already been configured the corresponding 3D repre sentation of the plane is highlighted in the 3D View see 14 11 2 to the right of this panel The safety plane can be set up in the Safety Plane Properties section see 14 11 3 at the bottom of the tab Click the Tool Boundary entry to configure the orientation bou
45. UNIVERSAL ROBOTS PolyScope Manual Version 3 0 Original instructions en US version Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS The information contained herein is the property of Universal Robots A S and shall not be repro duced in whole or in part without prior written approval of Universal Robots A S The informa tion herein is subject to change without notice and should not be construed as a commitment by Universal Robots A S This manual is periodically reviewed and revised Universal Robots A S assumes no responsibility for any errors or omissions in this document Copyright 2009 2014 by Universal Robots A S The Universal Robots logo is a registered trademark of Universal Robots A S CB3 ii Version 3 0 PolyScope Manual 1 9 Introduction II 3 9 1 Getting Started s II 3 9 1 1 Installing the Robot Arm and Control Box II 3 9 1 2 Turning the Control Box On and II 4 9 1 3 Turning the Robot Arm On and Off II 4 9 1 4 Quick Start 4 9 1 5 The First Program II 5 9 2 PolyScope Programming Interface II 6 9 3 Welcome Screen II 8 94 Initialization Screen II 9 10 On screen Editors II 11 10 1 On screen Keypad II 11 10 2 On screen Keyboard 12 10 3 On screen Expression Editor II 12 10 4 Pose Editor Screen II 13 11 Robot Control Il 17 11 1 Move Tab II 17 11 1 1 Robot m MUR II 17 11 1 2 Feature and Too
46. ait 9 Waypoint Wait V Folder o Folder lt lt empty gt hd E Ji Hide Folder Program Tree simulation Ke gt Speed 100 Previous Next gt o Real Robot A folder is used to organize and label specific parts of a program to clean up the program tree and to make the program easier to read and navigate A folder does not in itself do anything 12 16 Command Loop File 14 22 58 CCCC Program Installation Move Log lt unnamed gt Command Graphics Structure Variables Waypoint a Set Loop e Pallet ee Pattern ee PalletSequence 9 Approach PatternPoint e Longa Set Wait 0 01 Loop times using variable Loop 9 Exit ee Destack StartPos Loop as long as the following expression is true amp Direction FromPos 9 ToPos PickSequence 9 StackPos Set Wait 9 Waypoint Wait V Folder lt empty gt Comment Halt Popup V Loop Ev 4 Ill Simulation e Speed 100 Previous Next o Real Robot o Please select how many times the program in this loop should be executed lt Check expression continuous lt
47. alue can be modified by tapping the text field and entering a new value Note that setting this value does not modify the payload in the robot s installation see 11 6 it only sets the payload mass to be used by the controller Similarly the name of the installation file that is currently loaded is shown in the grey text field A different installation can be loaded by tapping the text field or Version 3 0 II 9 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 9 4 Initialization Screen by using the Load button next to it Alternatively the loaded installation can be customized using the buttons next to the 3D view in the lower part of the screen Before starting up the robot arm it is very important to verify that both the active payload and the active installation correspond to the actual situation the robot arm is currently in Initializing the robot arm DANGER Always verify that the actual payload and installation are correct before starting up the robot arm If these settings are wrong the robot arm and control box will not function correctly and may be come dangerous to people or equipment around them CAUTION Great care should be taken if the robot arm is touching an obstacle or table since driving the robot arm into the obstacle might dam age a joint gearbox The large button with
48. and auto initialization on power up can for instance be used to integrate the robot arm into other machinery CB3 II 38 Version 3 0 12 Programming 12 4 New Program M File 142252 CCCC Program New Program Load From File Use Template Pick and Place Empty Program A new robot program can start from either a template or from an existing saved robot program A template can provide the overall program structure so only the details of the program need to be filled in Version 3 0 rev 15167 39 Copyright 2009 2014 by Universal Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 2 Program Tab 12 2 Program Tab File 142253 CCCC Q Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure Variables V Robot Program aj lt empty gt Program The window on the left shows the program tree Use the Next and Previous buttons to navigate through the program tree Use the Structure tab to modify the program tree Add BeforeStart Sequence Set Initial Variable Values A Y R Program Loops Forever Fetal gt PL Speed 100 Previous Next gt o Real Robot The program tab shows the current program being edited The program tree on the left side of the screen
49. and orientation for the tool or target joint positions 11 1 3 Move Tool Holding downa translate arrow top will move the tool tip of the robot in the direction indicated Holding down a rotate arrow button will change the orientation of the robot tool in the indicated direction The point of rotation is the Tool Center Point TCP i e the point at the end of the robot arm that gives a characteristic point on the robot s tool The TCP is shown as a small blue ball Note Release the button to stop the motion at any time 11 1 4 Move Joints Allows the individual joints to be controlled directly Each joint can move from 360 to 360 which are the default joint limits illustrated by the horizontal bar for each joint If a joint reaches its joint limit it cannot be driven any further If the limits for a joint have been configured with a position range different from the default see 14 10 this range is indicated with red in the horizontal bar 11 1 5 Teach While the Teach button is held down it is possible to physically grab the robot arm and pull it to where you want it to be If the gravity setting see 11 7 in the Setup tab is wrong or the robot arm carries a heavy load the robot arm might start moving falling when the Teach button is pressed In that case just release the Teach button again CB3 18 Version 3 0 11 2 I O Tab UNIVERSAL ROBOTS WARNING 1 Make sure to use the co
50. and the current position or speed of a joint is close to the limit the user will feel a repelling force which increases in magnitude as the joint approaches the limit The force is generated when joint speed is within approximately 20 s of the speed limit or joint position is within approximately 8 of the position limit Maximum Speed This option defines the maximum angular velocity for each joint This is done by tapping the corresponding text field and entering the new value The highest accepted value is listed in the column titled Maximum None of the values can be set below the tolerance value Note that the fields for limits in Reduced mode are disabled when neither a safety plane nor a configurable input is set to trigger it see 14 11 and 14 12 for more de tails Furthermore the limits for Reduced mode must not be higher than their Nor mal mode counterparts The tolerance and unit for each limit are listed at the end of the row that corre sponds to it When a program is running the speed of the robot arm is automat ically adjusted in order to not exceed any of the entered values minus the toler ance see 14 3 Note that the minus sign displayed with each tolerance value is Version 3 0 II 87 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 14 11 Boundaries only there to indicate that the tolerance is s
51. ant from normal teaching mode to testing the force command When the Teach Test button is on and the Teach button on the back of the Teach Pendant is pressed the robot will perform as if the program had reached this force command and this way the settings can be verified before actually running the complete program Especially this possibility is useful for verifying that compliant axes and forces have been selected correctly Simply hold the robot TCP using one hand and press the Teach button with the other and notice in which directions the robot arm can cannot be moved Upon leaving this screen the Teach Test button automatically switches off which means the Teach button on the back of the Teach Pendant button is again used for free teach mode Note The Teach button will only be effectual when a valid feature has been selected for the Force command CB3 II 62 Version 3 0 12 25 Command Pallet UNIVERSAL ROBOTS 12 25 Command Pallet File 14 23 01 CCCC Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure Variables amp Pallet ee Pattern Pallet ee PalletSequence Approach A pallet operation allows the robot to perform the same sequence of motions and actions at PatternPoint several different positions This can be useful for palletizing or similar operations A pallet Set op
52. bProgram SubProgram 1 Il I lt gt Track program execution Show Subprogram Tree d gt Speed 100 Previous Next gt o Real Robot A Sub Program can hold program parts that are needed several places A Sub Program can be a seperate file on the disk and can also be hidden to protect against accidental changes to the SubProgram Version 3 0 re II 53 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 18 Command Assignment Command Call SubProgram Q File 142200 CCCC Program Installation Move 1 0 Log lt unnamed gt If Command I Graphics Structure Variables Set Wait 0 01 o Exit Call Subroutine 9 s Destack StartPos Choose which subroutine to call at this point at the program execution Direction 9 FromPos SubProgram 1 X ToPos oe PickSequence StackPos Set Wait Waypoint Wait V Folder gt gt Popup 9 V Loop e lt empty gt Bl Script var 1 22 for P Call SubProgram 1 e V If e empty P SubProgram 1 X a ee ee 7 simulation gt Pi speed 00 Previous Next o Real Robot
53. bles and I O signals To create a simple program on a robot that has been started up do the following 1 Touch the Program Robot button and select Empty Program 2 Touch the Next button bottom right so that the lt empty gt line is selected in the tree structure on the left side of the screen Go to the St ructure tab Touch the Move button Go to the Command tab Press the Next button to go to the Waypoint settings H Press the Set this waypoint button next to picture Version 3 0 II 5 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 9 2 PolyScope Programming Interface 8 13 14 15 On the Move screen move the robot by pressing the various blue arrows or move the robot by holding the Teach button placed on the backside of the teach pendant while pulling the robot arm Press OK 10 11 12 Press Add waypoint before Press the Set this waypoint button next to the picture On the Move screen move the robot by pressing the various blue arrows or move the robot by holding the Teach button while pulling the robot arm Press OK with Your program is ready The robot will move between the two points when you press the Play symbol Stand clear hold on to the emergency stop button and press Play Congratulations You have now p
54. can make it easier to remember what the signal does when working with the robot Select an I O by clicking on it and set the name using the on screen keyboard You can set the name back by setting it to only blank characters When an output is selected a few options are enabled Using the check box a default value for the output can set to either low or high This means that the output will be set to this value when a program is not running If the check box is not checked the output will preserve its current state after a program ends It is also possible to specify whether an output can be controlled on the I O tab by either programmers or both operators and programmers or if it is only robot programs that may alter the output value 11 9 Installation Safety See chapter 14 Version 3 0 II 25 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 11 10 Installation Variables 11 10 Installation Variables File 142313 CECE Program Installation Move 1 0 Log TCP Configuration Installation Variables Mounting Setup Variable Value 9 Safety Variables MODBUS client Features Default Program Load Save Create New Variables created here are called installation variables and can be used just like normal program variables
55. ce 9 StackPos Set Wait 9 Waypoint Wait V Folder E Comment Halt Popup V Loop Bl Script var 1 2 for Set 4 9 ToPos Command Graphics Structure Variables If Depending on the state of the given sensor input or program variable the following lines will be executed C Check expression continuously P Call SubProgram 1 AA gt empty Add Elself l Remove Elself SubProgram 1 s 4 2 Add Else lt gt edi Speed 100 Previous Next Real Robot gt gt s s 2 An if else construction can make the robot change its behavior based on sensor inputs or variable values Use the expression editor to describe the condition under which the robot should proceed to the sub commands of this 1 f If the condition is evaluated to True the lines inside this If are executed Each If can have several ElseIf and one Else command These can be added using the buttons on the screen An ElseIf command can be removed from the screen for that command The open Check Expression Continuously allow the conditions of the If and ElseIf statements to be evaluated while the contained lines are executed If a expression evaluates to False while inside the body of the I f part the following ElselforElse statement wi
56. control an external machine independently of the robot arm A thread can communicate with the robot program with variables and output signals 12 23 Command Pattern Q File 142302 CCCC Program Installation Move I O Log A lt unnamed gt Command I Graphics Structure Variables s Pallet lt Patter Pattern 4 PalletSequence Approach A pattern is a group of positions to be cycled through PatternPoint Patterns can be used for making much more palletizing etc Set Wait 0 01 Exit Positions on a line Line 9 Destack StartPos amp Direction 9 FromPos Positions in a square Square A Ser ToPos aeri PickSequence E 9 StackPos Set Positions in a box Box Wait L3 Waypoint Wait V Folder E z gt A list of positions lt empty gt Comment Halt Popup V Loop Simulation Speed 1009 Previous Next o Real Robot CB3 II 58 Version 3 0 rev 15167 12 23 Command Pattern UNIVERSAL ROBOTS The Pattern command can be used to cycle through positions in the robot program The pattern command corresponds to one position at each execution Ho u A pattern be given as of four types The first three Line Square or
57. current position of the robot arm and the shadow of the robot arm shows the target position of the robot arm controlled by the specified values on the right hand side of the screen Push the magnifying glass icons to zoom in out or drag a finger across to change the view Version 3 0 II 13 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 10 4 Pose Editor Screen If the specified target position of the robot TCP is close to a safety or trigger plane or the orientation of robot tool is near the tool orientation boundary limit see 14 11 a 3D representation of the proximate boundary limit is shown Safety planes are visualized in yellow and black with a small arrow representing the plane normal which indicates the side of the plane on which the robot TCP is allowed to be positioned Trigger planes are displayed in blue and green and a small arrow pointing to the side of the plane where the Normal mode limits see 14 5 are active The tool orientation boundary limit is visualized with a spherical cone together with a vector indicating the current orientation of the robot tool The inside of the cone represents the allowed area for the tool orientation vector When the target robot TCP no longer is in the proximity of the limit the 3D rep resentation disappears If the target TCP is in violation or very close to v
58. e Robot Set Password Calibrate Screen Setup Network Set Time Back Change System Password Passwords ensure changes to the robots functionality and behavior are protected Any areas where modifications can be made will be secured Password Confirm password Apply Change Safety Password Enter current password Password Confirm password Two passwords are supported The first is an optional System password which pre vents unauthorized modification of the setup of the robot When the System pass word is set programs can be loaded and executed without the password but the user must enter the correct password in order to create or change programs The second is a required Safety password which must be entered correctly in order to modify the safety configuration NOTE In order to change the safety configuration the Safety password must be set WARNING Add a System password to prevent non authorized personnel from changing the robot installation CB3 76 Version 3 0 13 4 Calibrate Screen UNIVERSAL ROBOTS 13 4 Calibrate Screen x Point very precisely in the center of the blue cross Cancel es Calibrating the touch screen Follow the on screen instructions to calibrate the touch screen Preferably use a pointed non metallic object such as a closed pen Patience and care help achieve a better result
59. e Waypoint File Program Installation Move Log 142347 CCCC lt unnamed gt Init Variables E V Robot Program V MoveJ Waypoint V Move Waypoint 1 Set g s Pallet s Pattern Square 9 alst Corner a2nd Corne Corne 9 a4th_Corner PalletSequence 9 Approach 9 PatternPoint Set Wait 9 Exit s Destack StartPos ee Direction 9 FromPos 9 ToPos ee PickSequence StackPos Sef x Il a Command Graphics Structure Variables Rename Waypoint_1 Relative position Relative Motion given by the difference between from and to positions To point From point Set this point Move robot here Distance 0 0 mm Set this point Move robot here Add waypoint before Angle 179 1 Add waypoint after Remove this waypoint Q Simulation gt o Real Robot Speed 10096 Previous Next gt A waypoint with the position given relative to the robot arm s previous position such as two centimeters to the left The relative position is defined as the dif ference between the two given positions left to right Note that repeated relative positions can move the robot arm out of its workspace The distance here is
60. e bottom of the tab defines a limit on the orientation of robot tool composed of a desired tool orientation and a value for the maximum allowed deviation from this orientation Deviation The Deviation text field shows the value for the maximum allowed deviation of the orientation of the robot tool from the desired orientation Modify this value by tapping the text field and entering the new value The accepted value range together with the tolerance and unit of the deviation are listed next to the text field Copy Feature The desired orientation of the robot tool is specified using a feature see 11 12 from the current robot installation The z axis of the selected feature will be used as the desired tool orientation vector for this limit Use the drop down box in the lower left portion of the Tool Boundary Properties panel to select a feature Only the point and plane type features are available Choosing the lt Undefined gt item clears the configuration of the plane It should be noted that when the limit has been configured by selecting a feature the orientation information is only copied to the limit the limit is not linked to that feature This means that if there are changes to the position and orientation of a feature which has been used to configure the limit the limit is not automatically updated If the feature has changed this is indicated by a A icon positioned over the feature selector Click the button next to the selector
61. e robot program Variable waypoint When the robot arm moves to a variable waypoint the tool target position will always be calculated as the coordinates of the variable in the space of the selected feature Therefore the robot arm movement for a variable waypoint will always change if another feature is selected The settings of the Shared Parameters of a Move command apply to the path from the robot arm s current position to the first waypoint under the command and from there to each of the following waypoints The Move command settings do not apply to the path going from the last waypoint under that Move command CB3 44 Version 3 0 12 6 Command Fixed Waypoint UNIVERSAL ROBOTS 12 6 Command Fixed Waypoint Q File 142347 CCCC Q Program installation Move Log lt unnamed gt Command Graphics Structure Variables Init Variables 2 Fixed position V Robot Program Waypoint 1 Rename V Move Waypoint 9 V Move Move robot here 9 Waypoint 1 Set Pallet ee Pattern Square ye 9 alst Corne j 9 a2nd_Corne 9 Corne 9 a4th Cornel 5 Approach 9 PatternPoint Set Show advanced options Wait 9 Exit s Destack StartPos stop at this point Direction Blend with radius FromPos 9 ToPos o PickSequence 9 StackPos Change this Waypoint Add waypo
62. ed safety plane Change the name by tapping the text field and entering a new name Copy Feature The position and normal of the safety plane is specified using a feature see 11 12 from the current robot installation Use the drop down box in the lower left portion of the Sa ety Plane Properties section to select a feature Only the point and plane type features are available Choosing the Undefined item clears the configuration of the plane CB3 II 90 Version 3 0 14 11 Boundaries UNIVERSAL ROBOTS The z axis of the selected feature will point to the disallowed area and the plane normal will point in the opposite direction except when the Base feature is se lected in which case the plane normal will point in the same direction If the plane is configured as a Trigger Reduced mode plane see 14 11 3 the plane normal indi cates the side of the plane that does not trigger transition into Reduced mode It should be noted that when the safety plane has been configured by selecting a feature the position information is only copied to the safety plane the plane is not linked to that feature This means that if there are changes to the position or orientation of a feature which has been used to configure a safety plane the safety plane is not automatically updated If the feature has changed this is indicated by a A icon positioned over the feature selector Click the amp button next to the selector to update the safety plane wi
63. edded help Tick off English programming to have the names of commands within robot programs written in English PolyScope needs to be restarted for changes to take effect CB3 74 Version 3 0 13 2 Update Robot UNIVERSAL ROBOTS 13 2 Update Robot Setup Robot Update robot software Initialize Robot Language and Units Search Update Robot Set Password Click Search to download a list of possible updates for this robot r Calibrate Screen Description Setup Network Set Time Back Software updates can be installed from USB flash memory Insert an USB memory stick and click Search to list its contents To perform an update select a file click Update and follow the on screen instructions WARNING Always check your programs after a software upgrade The up grade might change trajectories in your program The updated software specifications can be found by pushing the button lo cated at the top right corner of the GUI Hardware specifications remain the same and can be found in the original manual Version 3 0 II 75 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 3 Set Password 13 3 Set Password Setup Robot Initialize Robot Language and Units Updat
64. en it is possible to create and edit script programs files This way long and complex script programs can be used together with the operator friendly programming of PolyScope CB3 56 Version 3 0 12 21 Command Event UNIVERSAL ROBOTS 12 21 Command Event File Program Installation Move Log 14 23 09 CCCC Q fal lt unnamed gt Set Wait Waypoint Wait V Folder e ce o Comm Halt Popup V Loop Bl Script var 1 22 for P Call SubProgram 1 4 V If oe Pallet e Pattern amp PalletSequence 9 Approach 9 PatternPoint e Set Wait 9 Exit P SubProgram 1 lt empt Command Graphics Structure Variables Event An Event is simmilar to an Interrupt however in an event the execution of the main program continues while the event code is being executed While the event is being executed new events will have no effect Depending on the state of the given sensor input or program variable the following lines will be executed Q Simulation gt o Real Robot Speed 100 Previous Next gt An event can be used to monitor an input signal and perform some action or set a variable when that input signal goes high For example in the event that an output signal goes high the event prog
65. eration consist of the following features t Wait 0 01 A Program Sequence to be performed at several positions 9 Exit The Pattern either given as a list or as a lattice 9 amp Destack An optional before start sequence that will be performed before the first position o StartPos An optional after end sequence that will be performed after the last position amp Direction 9 FromPos ToPos so PickSequence StackPos Set Wait 9 Waypoint Wait 9 V Folder Comment Halt Popup 9 V Loop lt empty gt fi scriot _ program sequences Ji 1 Special program sequence before the first point st ae gt C Special program sequence after the last point b Speed c 100 Previous Next gt Real Robot l A pallet operation can perform a sequence of motions in a set of places given as a pattern as described in 12 23 At each of the positions in the pattern the sequence of motions will be run relative to the pattern position Programming a Pallet Operation The steps to go through are as follows 1 Define the pattern 2 Make a PalletSequence for picking up placing at each single point The sequence describes what should be done at each pattern position 3 Use the selector on the sequence command screen to define which of the way points in the sequence should correspond to the pattern positions Pallet Seque
66. es X 0 0 mm a Safety Variables V 00 9 MODBUS client Z 0 0 mm Features Default Program 9 9 Load Save The payload at the TCP is 0 00 kg Fit program to new TCP e p 2 t 2 Change graphics The Tool Center Point TCP is the point at the end of the robot arm that gives a characteristic point on the robot s tool When the robot arm moves linearly it is this point that moves in a straight line It is also the motion of the TCP that is visualized on the graphics tab The TCP is given relative to the center of the tool output flange as indicated on the on screen graphics WARNING Make sure to use the correct installation settings Save and load the installation files along with the program The two buttons on the bottom of the screen are relevant when the TCP is changed Change Motions recalculates all positions in the robot program to fit the new TCP This is relevant when the shape or size of the tools has been changed Change Graphics redraws the graphics of the program to fit the new TCP This is relevant when the TCP has been changed without any physical changes to the tool Version 3 0 II 23 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 11 7 Installation Mounting 11 7 Installation Mounting File 14 23 12 CCCC
67. example the Program tab is selected at the top level and under that the Structure tab is selected The Program tab holds information related to the cur rently loaded program If the Move tab is selected the screen changes to the Move screen from where the robot arm can be moved Similarly by selecting the 1 0 tab the current state of the electrical I O can be monitored and changed It is possible to connect a mouse and a keyboard to the control box or the teach pendant however this is not required Almost all text fields are touch enabled so touching them launches an on screen keypad or keyboard Non touchable text fields have an editor icon next to them that launches the associated input editor Ed AXE f x The icons of the on screen keypad keyboard and expression editor are shown above The various screens of PolyScope are described in the following sections Version 3 0 II 7 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 9 3 Welcome Screen 9 3 Welcome Screen PolyScope Robot User Interface Please select Run Program UNIVERSAL ROBOTS Setup Robot About Shutdown Robot After booting up the controller PC the welcome screen is shown The screen offers the following options Run Program Choose and run an existing program This is the simp
68. gt Time Figure 12 1 Speed profile for a motion The curve is divided into three segments acceleration cruise and deceleration The level of the cruise phase is given by the speed setting of the motion while the steepness of the acceleration and deceleration phases is given by the acceleration parameter Feature selection For MoveL and MoveP it is possible to select in which feature space the waypoints under the Move command should be represented when specifying these waypoints This means that when setting a waypoint the program will remember the tool co ordinates in the feature space of the selected feature There are a few circumstances that need detailed explanation Fixed feature If a fixed feature such as e g Base is selected this will not have any effect on Fixed and Relative waypoints The behavior for Variable waypoints is described below Variable feature If any of the features in the currently loaded installation are selected to be variable these corresponding variables will also be selectable in the feature selection menu If a feature variable named by the name of the feature and proceeded by var is selected the robot arm movements except to Relative waypoints will depend on the actual value of the variable when the program is running The initial value of a feature variable is the value of the actual feature This means that the movements will only change if the feature variable is actively changed by th
69. guard Reset is used to ensure the Safeguard Stopped state continues until a reset is triggered The robot arm will not move when in Safeguard Stopped state WARNING By default the Safeguard Reset input function is configured for input pins 0 and 1 Disabling it altogether implies that the robot arm ceases to be Safeguard Stopped as soon as the Safeguard Stop input becomes high In other words without a Safeguard Reset input the Safeguard Stop inputs SIO and SII see the Hardware Installation Manual fully determine whether the Safe guard Stopped state is active or not Output Signals For the output signals the following Safety functions can be ap plied All signals return to low when the state which triggered the high signal has ended System Emergency Stop Low signalis given when the safety system has been triggered into an Emergency Stopped state It is in a high signal state otherwise Robot Moving A low signal is given whenever the robot arm is in a mobile state When the robot arm is in a fixed position a high signal is given Robot Not Stopping When the robot arm has been requested to stop some time will pass from the request until the arm stops During this time the signal will be high When the robot arm is moving and has not been re quested to stop or when the robot arm is in a stopped position the signal will be low Reduced Mode Sends a low signal when the robot arm is placed in Reduced mode
70. h the robot arm will move between those way points Movement Types It is possible to select one of three types of movements Move MoveL and MoveP each explained below e moveJ will make movements that are calculated in the joint space of the robot arm Each joint is controlled to reach the desired end location at the same time This movement type results in a curved path for the tool The shared parameters that apply to this movement type are the maximum joint speed and joint acceleration to use for the movement calculations specified in deg 5 and deg s respectively If it is desired to have the robot arm move fast be tween waypoints disregarding the path of the tool between those waypoints this movement type is the favorable choice moveL will make the tool move linearly between waypoints This means that each joint performs a more complicated motion to keep the tool on a straight line path The shared parameters that can be set for this movement type are the desired tool speed and tool acceleration specified in mm s and s respec tively and also a feature The selected feature will determine in which feature space the tool positions of the waypoints are represented in Of specific in terest concerning feature spaces are variable features and variable waypoints Variable features can be used when the tool position of a waypoint need to be determined by the actual value of the variable feature when the robot program
71. he safety system is in Normal mode It transitions into Reduced mode whenever one of the following situations occurs a The robot TCP is positioned beyond some Trigger Reduced mode plane i e it is located on the side of the plane that is opposite to the direction of the small arrow in the visualization of the plane b The Reduced Mode safety input function is configured and the input signals are low see 14 12 for more details When none of the above is the case any longer the safety system transitions back to Normal mode When the transition from Normal to Reduced mode is caused by passing through a Trigger Reduced mode plane a transition from the Normal mode limit set to the Re duced mode limit set occurs As soon as the robot TCP is positioned 20 mm or closer to the Trigger Reduced mode plane but still on the Normal mode side the more per missive of the Normal and Reduced mode limits is applied for each limit value Once the robot TCP passes through the Trigger Reduced mode plane the Normal mode limit set is no longer active and the Reduced mode limit set is enforced When a transition from Reduced to Normal mode is caused by passing through a Trigger Reduced mode plane a transition from the Reduced mode limit set to the Nor mal mode limit set occurs As soon as the robot TCP passes through the Trigger Reduced mode plane the more permissive of the Normal and Reduced mode limits is applied for each limit value Once the robo
72. hown Here you will notice that you may not be able to access all the directories above the programs folder By selecting a folder name in the list the load dialog changes to that directory and displays it in the file selection area 11 15 File selection area In this area of the dialog the contents of the actual area is present It gives the user the option to select a file by single clicking on its name or to open the file by double clicking on its name In the case that the user double clicks on a directory the dialog descends into this folder and presents its contents File filler By using the file filter one can limit the files shown to include the type of files that one wishes By selecting Backup Files the file selection area will display the latest 10 saved versions of each program where o1d0 is the newest and o1d9 is the oldest File field Here the currently selected file is shown The user has the option to manually enter the file name of a file by clicking on the keyboard icon to the right of the field This will cause an on screen keyboard to pop up where the user can enter the file name directly on the screen Open button Clicking on the Open button will open the currently selected file and return to the previous screen Cancel button Clicking on the Cancel button will abort the current loading pro cess and cause the screen to switch to the previous image Action buttons A series of buttons gives the user the ability
73. i tialization screen Any changes to the safety configuration must be applied or re verted before navigating away from the Installation tab These changes are not in effect until after the Apply button is pressed and confirmation is performed Confirmation requires visual inspection of the changes given to the robot arm For safety reasons the information shown is given in SI Units An example of the con firmation dialog is shown in figure 14 8 Version 3 0 II 83 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 14 9 General Limits Confirmation of applied Safety Configuration General Limits Joint Limits Boundaries Safety 1 0 Normal Mode Reduced Mode Force 150 00 120 00 N Power 300 00 200 00 W Speed 1 50 0 75 m s Momentum 25 00 10 00 kg m s Confirm Safety Configuration Decline Furthermore on confirmation the changes are automatically saved as part of the current robot installation See 11 5 for further information on saving the robot in stallation 14 9 General Limits The general safety limits serve to limit the linear speed of the robot TCP as well as the force it may exert on the environment They are composed of the following values Force A limit for the maximum force that the robot TCP exerts on the environment Power A limit for the maximum mechanical work
74. ically load a default program when the robot is turned on Variables O Load default program MODBUS client No Program Selected Features Select Default Program Default Program Load Save A If the Auto Initialize option below is enabled too the robot can start moving on power up C Auto Start the default program in the Run Tab On edge to Auto Initialize Automatically initialize the robot when the main power is turned on The robot can move due to the brake releasing procedure O Auto brake release the robot On Di Input v edge to High This screen contains settings for automatically loading and starting a default pro gram and for auto initializing the robot arm on power up WARNING If auto load auto start and auto initialize all three are enabled the robot will start running the selected program as soon as the control box is powered up 11 13 1 Loading a Default Program A default program can be chosen to be loaded when the control box is powered up Furthermore the default program will also be auto loaded when the Run Program screen see 9 3 is entered and no program is loaded 11 13 2 Starting a Default Program The default program can be auto started in the Run Program screen When the default program is loaded and the specified external input signal edge transition is detected the program will be started automatically Note on start
75. ing the Displacement text field in the lower right portion of this panel and entering a value Entering in a positive value increases the allowed workspace of the robot by moving the plane in the opposite direction of the plane Version 3 0 91 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 14 11 Boundaries normal while entering a negative value decreases the allowed area by moving the plane in the direction of the plane normal The tolerance and unit for the displacement of the boundary plane are shown to the right of the text field Effect of strict limit planes Program execution is aborted when the TCP position is about to cross an active strict limit safety plane minus the tolerance see 14 3 if it continues moving along the predicted trajectory Note that the minus sign displayed with the tolerance value is only there to indicate that the tolerance is subtracted from the actual entered value The safety system will perform a category 0 stop should the TCP position exceed the specified limit safety plane without tolerance Effect of Trigger Reduced mode planes When no protective stop is in effect and the safety system is not in the special Recovery mode see 14 5 it operates either in Normal or Reduced mode and the movements of the robot arm are limited by the respective limit set By default t
76. int before Bi Set L il Ii t 4 Add waypoint after Remove this waypoint Q simulation gt s 3 peed 10096 Previous Next gt Real Robot A point on the robot path Waypoints the most central part of a robot program telling the robot arm where to be A fixed position waypoint is given by physically moving the robot arm to the position 12 7 Setting the waypoint Press this button to enter the Move screen where you can specify the robot arm s position for this waypoint If the waypoint is placed under a Move command in linear space moveL moveP there need to be a valid feature selected at that Move command in order for this button to be pressable Waypoint names Waypoint names can be changed Two waypoints with the same name is always the same waypoint Waypoints are numbered as they are specified Blend radius If a blend radius is set the robot arm trajectory blends around the waypoint al lowing the robot arm not to stop at the point Blends cannot overlap so it is not possible to set a blend radius that overlaps a blend radius for a previous or follow ing waypont A stop point is a waypoint with a blend radius of 0 0mm Note on I O Timing If a waypoint is a stop point with an I O command as the next command the I O command is executed when the robot arm stops at the waypoint
77. iolating a boundary limit the visualization of the limit turns red Feature and tool position At the top right part of the screen the feature selector can be found The feature selector defines which feature to control the robot arm relative to while below it the boxes display the full coordinate value for the tool relative to the selected fea ture X Y and Z control the position of the tool while RX RY and RZ control the orientation of the tool Use the drop down menu above the RX RY and RZ boxes to choose the orientation representation Available types are Rotation Vector rad The orientation is given as a rotation vector The length of the axis is the angle to be rotated in radians and the vector itself gives the axis about which to rotate This is the default setting Rotation Vector The orientation is given as a rotation vector where the length of the vector is the angle to be rotated in degrees RPY rad Roll pitch and yaw RPY angles where the angles are in radians The RPY rotation matrix X Y Z rotation is given by Repy 7 B amp a Ry B Rx v RPY Roll pitch and yaw RPY angles where angles are in degrees Values can be edited by clicking on the coordinate Clicking on the or buttons just to the right of a box allows you to add or subtract an amount to from the current value Pressing and holding down a button will directly increase decrease the value The longer
78. ion symbols such as for multiplication and lt for less than or equal to The keyboard symbol button in the top right of the screen switches to text editing of the expression All defined variables can be found in the Variable selector while the names of the input and output ports can be found in the Input and Output selectors Some special functions are found in Function The expression is checked for grammatical errors when the Ok button is pressed The Cancel button leaves the screen discarding all changes An expression can look like this digital_in 1 True and analog in 0 0 5 10 4 Pose Editor Screen On this screen you can specify target joint positions or a target pose position and orientation of the robot tool This screen is offline and does not control the robot arm directly Robot Feature AAA ew ln Tool Position x 120 11 mm Y 243176 mm z 300 00 Rotation Vector rad v RX 0 0012 qP RY 3 1664 RZ 0 0395 TP Joint Positions Base 91 71 9 Shoulder 98 55 dj Elbow 36 88 ti Wrist 1 136 04 9 wrist2 91 39 l Wrist 3 1 78 a l cancel Robot The current position of the robot arm and the specified new target position are shown in 3D graphics The 3D drawing of the robot arm shows the
79. ith the robot arm standing still there will be no compliant axes until the TCP speed is above zero If later on while still in force mode the robot arm is again standing still the task frame has the same orientation as the last time the TCP speed was larger than zero For the last three types the actual task frame can be viewed at runtime on the graphics tab 12 28 when the robot is operating in force mode Force value selection A force can be set for both compliant and non compliant axes but the effects are different Compliant The robot arm will adjust its position to achieve the selected force Non compliant The robot arm will follow its trajectory set by the program while accounting for an external force of the value set here For translational parameters the force is specified in Newtons N and for rota tional the torque is specified in Newton meters Nm Limits selection For all axes a limit can be set but these have different meaning corresponding to the axes being complian or non compliant Compliant The limit is the maximum speed the TCP is allowed to attain along about the axis Units mm s and deg s Non compliant The limit is the maximum deviation from the program trajec tory which is allowed before the robot protective stops Units are mm and deg Test force settings The on off button Teach Test toggles the behavior of the Teach button on the back of the Teach Pend
80. l Position II 18 11 1 3 Move Tool II 18 11 1 4 Move Joints II 18 11 1 5 Teach II 18 112 I OTab sos II 19 11 3 MODBUS client I O I 20 11 4 AutoMove Tab II 20 11 5 Installation Load Save II 22 11 6 Installation TCP Configuration 23 11 7 Installation Mounting 24 11 8 Installation gt I O Setup II 25 119 Installation Safety II 25 11 10 Installation Variables EE II 26 11 11 Installation MODBUS client I O Setup II 27 11 12 Installation Features II 30 11 13 Installation Default Program 34 11 13 1 Loading a Default Program II 34 11 13 2 Starting a Default Program II 34 11 13 3 Auto Initialization II 35 Version 3 0 iii CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 11 14 Log Tab 11 15 Load Screen 11 16 Run Tab 12 Programming 12 1 New Program 122 Program Tab 123 Variables 12 4 Command Empty 125 Command Move 12 6 Command Fixed Waypoint 12 7 Setting the waypoint 12 8 Command Relative Waypoint 12 9 Command Variable Waypoint 12 10 Command Wait 12 11 Command Set 12 12 Command Popup 12 13 Command Halt 12 14 Command Comment 12 15 Command Folder 12 16 Command Loop 12 17 Command SubProgram 12 18 Command Assignment 12 19 Command If 12 20 Command Script 12 21 Command Event 12 22 Command Thread 12 23
81. lays the current state of the I O inluding during program execution If anything is changed during program execution the program will stop At program stop all output signals will retain their states The screen is updated at only 10Hz so a very fast signal might not display properly Configurable I O s can be reserved for special safety settings defined in the safety I O configuration section of the installaton see 14 12 those which are reserved will have the name of the safety function in place of the default or user defined Version 3 0 rev 15167 II 19 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 11 4 AutoMove Tab name Configurable outputs that are reserved for safety settings are not togglable and will be displaed as LED s only The electrical details of the signals are described in the user manual Analog Domain Settings The analog I O s can be set to either current 4 20mA or voltage 0 10V output The settings will be remembered for eventual later restarts of the robot controller when a program is saved 11 3 MODBUS client I O Here the digital MODBUS client I O signals as set up in the installation are shown If the signal connection is lost the corresponding entry on this screen is disabled File 142340 CCCC Q Program Installation Move 1 0 Log Robot MODBUS client
82. lem Questions often asked by customers are for instance e Will it be possible to move the robot 4 cm away from the claw of my comput erised numerically controlled CNC machine Is it possible to rotate the tool of the robot 45 degrees relative to the table Can we make the robot arm move vertically downwards with the object let the object loose and then move the robot arm vertically upward again The meaning of such and similar questions is very straightforward to an average customer who intends to use a robot arm for instance at various stations in a pro duction plant and it may seem annoying and incomprehensible to the customer to CB3 II 30 Version 3 0 11 12 Installation Features UNIVERSAL ROBOTS be told that there may not be a simple answer to such relevant questions There are several complicated reasons for this being the case and in order to address these problems Universal Robots has developed unique and simple ways for a customer to specify the location of various objects relative to the robot arm Within a few steps it is therefore possible to do exactly what was asked for in the above ques tions Rename This button makes it possible to rename a feature Delete This button deletes the selected feature and if any all sub features Show Axes Choose whether the coordinate axes of the selected feature shall be visible on the 3D graphics The choice applies on this screen and on the Move sc
83. lest way to operate the robot arm and control box Program Robot Change a program or create a new program Setup Robot Set passwords upgrade software request support calibrate the touch screen etc Shutdown Robot Powers off the robot arm and shuts down the control box CB3 II 8 Version 3 0 9 4 Initialization Screen UNIVERSAL ROBOTS 9 4 Initialization Screen Initialize Robot Make sure that the installation and payload are correct and press the button with the green icon to initialize the robot Robot Normal Current Payload 0 00 kg Qo OFF Installation file default Load Installation 3D View Configure TCP Configure Mounting On this screen you control the initialization of the robot arm Robot arm state indicator The status LED gives an indicaton of the robot arm s running state A bright red LED indicates that the robot arm is currently in a stopped state where the reasons can be several A bright yellow LED indicates that the robot arm is powered on but is not ready for normal operation Finally a green LED indicates that the robot arm is powered on and ready for normal operation The text appearing next to the LED further specifies the current state of the robot arm Active payload and installation When the robot arm is powered on the payload mass used by the controller when operating the robot arm is shown in the small white text field This v
84. lines are specified and defined 12 5 Command Move File 14 23 41 CCCC Q Program Installation Move Log fa lt unnamed gt Command Graphics Structure Variables Init Variables a EI Move V Robot Program Move Zu V MoveJ Waypoint Here you specify how the robot should perform the movements between the waypoints below ry Use the menu in the upper right corner to switch between various movement types The values Waypoint set under Shared Parameters apply to all waypoints below and depend on the selected A PHA movemernt type oo s Pattern 9 alst Corne 9 a2nd Corne Corner 9 a4th Cornen ee PalletSequence Approach 9 PatternPoint Set Wait 9 Exit s Destack h eae Shared Parameters ee Direction enl e FromPos Joint Speed 60 5 9 ToPos ee PickSequence 9 StackPos Set M Reset to defaults 4 il D gt gt Add Waypoint Q simulation b Speed 100 Previous Next o Real Robot Joint Acceleration 80 52 CB3 II 42 Version 3 0 rev 15167 12 5 Command Move UNIVERSAL ROBOTS The Move command controls the robot motion through the underlying waypoints Waypoints have to be under a Move command The Move command defines the acceleration and the speed at whic
85. ll be reached Version 3 0 II 55 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 20 Command Script 12 20 Command Script File 14 22 58 CCCC Program Installation Move Log lt unnamed gt Command Graphics Structure Variables Pallet eo Pattern s PalletSequence Scri pt Code Line v Approach PatternPoint__ Set Wait 0 01 9 Exit ee Destack StartPos amp amp Direction 9 FromPos ToPos amp PickSequence 9 StackPos Set Wait 9 Waypoint Wait V Folder Below you can enter text that will be executed as script code by the URController fod See o Comment Halt Popup V Loop lt empty gt o o bi Speed 10096 Previous Next gt Real Robot This command gives access to the underlying real time script language that is ex ecuted by the robot controller It is intended for advanced users only and instruc tions on how to use it can be found in the Script Manual on the support website http support universal robots com Note that only UR distributors and OEM customers have access to the website If the File option in the top left corner is choos
86. m s Script EY 4 Ii Ip Sequence before start gt Sequence after end Reset to defaults gt Speed 100 Previous Next Real Robot When destacking the robot arm moves from the starting position in the given di rection to search for the next item The condition on the screen determines when the next item is reached When the condition becomes satisfied the robot remem bers the position and performs the special sequence The next time round the robot starts the search from the remembered position incremented by the item thickness along the direction Starting position The starting position is where the stack operation starts If the starting position is omitted the stack starts at the robot arm s current position CB3 66 Version 3 0 re 12 27 Command Suppress UNIVERSAL ROBOTS Direction Q File 142255 Program Installation Move 1 0 Log V Robot Program V Moves V Move Set ee Pattern ee PalletSequence PatternPoint Set Wait 9 Exit Destack StartPos Direction PickSequence lt unnamed gt Command Graphics Structure Variables Waypoint Direction Waypoint A direction is given by the line between the TCP position of two waypoints Pallet O Stop after 500 0 mm 9 Approach Stop when tta
87. m will perform a cate gory 0 stop should the deviation of the tool orientation exceed the limit without tolerance CB3 94 Version 3 0 14 12 Safety I O UNIVERSAL ROBOTS 14 12 Safety I O Q File 142402 CCCC Q Program Installation Move 1 0 Log Configuration Safety Configuration Mounting General Limits Joint Limits Boundaries Safety 1 0 jf SITS Input Signal Function Assignment Safety config in 0 config in 1 Reduced Mode Y Variables MODBUS client config in 2 config in 3 Safeguard Reset v Features config in 4 config in 5 Unassigned v Default Program config in 6 config in 7 Unassigned Y Load Save Output Signal Function Assignment config out 0 config out 1 Robot Moving Y config out 2 config out 3 System Emergency Stopped Y config out 4 config out 5 Unassigned Y config out 6 config out 7 Unassigned v Lock Apply This screen defines the Safety functions for configurable inputs and outputs I Os The I Os are divided between the inputs and outputs and are paired up so that each function is provided a Category 3 and PLd I O for safety in the event one of the I Os are to be no longer reliable Each Safety function can only control one pair of I Os Trying to select the same safety function a second time removes it from the first pair of
88. mmand go to the Command tab Commands can be moved cloned deleted using the buttons in the edit frame If a command has sub commands a triangle next to the command all sub commands are also moved cloned deleted Not all commands fit at all places in a program Waypoints must be under a Move command not necessarily directly under ElseIf and Else commands are required to be after an If In general moving ElseIf commands around can be messy Variables must be assigned values before being used Version 3 0 II 69 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 30 Variables Tab 12 30 Variables Tab Q File 14 23 48 CCCC Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure Variables Init Variables Variables gt NET 2 9874386E 6 Waypoint V Movej Waypoint 1 Variable Set Pallet Pattern Square 9 alst Corner a2nd 9 a3rd_Corner a4th Corner ee PalletSequence Approach 9 PatternPoint Set Wait 9 Exit eo Destack StartPos o gt Direction 9 FromPos ToPos e PickSequence __ 9 Q simulation gt Speed 00 Previous Ne
89. mode When the robot arm is in violation of one of the other modes i e Normal or Reduced mode and a category 0 stop has occurred the robot arm will start up in Recovery mode This mode allows the robot arm to be manu ally adjusted until all violations have been resolved It is not possible to run programs for the robot in this mode WARNING Note that limits for joint position TCP position and TCP orientation are disabled in Recovery mode so take caution when moving the robot arm back within the limits The subtabs of the Safety Configuration screen enable the user to define sep arate sets of safety limits for Normal and Reduced mode For the tool and joints Reduced mode limits regarding speed and momentum are required to be more re strictive than their Normal mode counterparts When a safety limit from the active limit set is violated the robot arm performs a category 0 stop If an active safety limit such as a joint position limit or a safety boundary is violated already when the robot arm is powered on it starts up in CB3 II 82 Version 3 0 14 6 Teach Mode UNIVERSAL ROBOTS Recovery mode This makes it possible to move the robot arm back within the safety limits While in Recovery mode the movement of the robot arm is limited by a fixed limit set that is not customizable by the user For details about Recovery mode limits see in the Hardware Installation Manual 14 6 Teach Mode When in Teach mode
90. must define s the starting point d the stack direction and i the thickness of the items in the stack On top of this one must define the condition for when the next stack position is reached and a special program sequence that will be performed at each of the stack positions Also speed and accelerations need to be given for the movement involved in the stack operation CB3 64 Version 3 0 12 26 Command Seek UNIVERSAL ROBOTS Stacking Q File 14 22 55 CCCC Program Installation Move Log lt unnamed gt Command Graphics Structure Variables V Robot Program V Move o Waypoint Select Seek Type V Move seek operation is given by a Set starting position s and a directiond oo Pallet ee Pattern ee PalletSequence Approach Please select between stacking and destacking 9 PatternPoint__ Set E Wait 9 Exit oo Seek Stacking Destacking Wait V Folder Comment Halt V Loop f EX f lt empty gt d Bl Script var_li P Call 9 Vif lt o Ti 1 o bi Speed c 00 Previous Next gt o Real Robot When stacking the robot arm moves to the starting position and then moves op posite the direction to search for the next stack position When found the
91. n On this screen you choose which program to load There are two versions of this screen one that is to be used when you just want to load a program and execute it and one that is used when you want to actually edit a program NOTE Running a program from a USB drive is not recommended To run a program stored on a USB drive first load it and then save it in the local programs folder using the Save As option in the File menu The main difference lies in which actions are available to the user In the basic load screen the user will only be able to access files not modify or delete them Furthermore the user is not allowed to leave the directory structure that descends from the programs folder The user can descend to a sub directory but he cannot get any higher than the programs folder Therefore all programs should be placed in the programs folder and or sub folders under the programs folder Screen layout Load Program Current Directory home hudson programs iz t ABCDE urp Filename Filter universal Robots Program files z harrn a This image shows the actual load screen It consists of the following important areas and buttons CB3 II 36 Version 3 0 11 15 Load Screen UNIVERSAL ROBOTS Path history The path history shows a list of the paths leading up to the present location This means that all parent directories up to the root of the computer are s
92. n 3 0 vi CB3 Part Il PolyScope Manual The Universal Robot arm is composed of extruded aluminum tubes and joints The joints with their usual names are shown in Figure 9 1 The Base is where the robot is mounted and at the other end Wrist 3 the tool of the robot is attached By coordinating the motion of each of the joints the robot can move its tool around freely with the exception of the area directly above and directly below the base The reach of the robot is 800 mm from the center of the base PolyScope is the graphical user interface GUI which lets you operate the robot arm and control box execute robot programs and easily create new ones The following section gets you started with the robot Afterwards the screens and functionality of PolyScope are explained in more detail 9 1 Getting Started Before using PolyScope the robot arm and control box must be installed and the control box switched on 9 1 1 Installing the Robot Arm and Control Box To install the robot arm and control box do the following 1 Unpack the robot arm and the control box 2 Mount the robot on a sturdy surface strong enough to withstand at least 10 times the full torque of the base joint and at least 5 times the weight of the robot arm The surface shall be vibration free 3 Place the control box on its foot 4 Plug on the robot cable between the robot and the control box Figure 9 1 Joints of the robot A
93. nce Anchorable Sequence In an Pallet Sequence node the motions of the robot arm are relative to the pallet position The behavior of a sequence is such that the robot arm will be at the po sition specified by the pattern at the Anchor Position Pattern Point The remaining positions will all be moved to make this fit Do not use the Move command inside a sequence as it will not be relative to the anchor position BeforeStart The optional BeforeStart sequence is run just before the operation starts This can be used to wait for ready signals Version 3 0 II 63 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 26 Command Seek AfterEnd The optional AfterEnd sequence is run when the operation is finished This can be used to signal conveyor motion to start preparing for the next pallet 12 26 Command Seek A seek function uses a sensor to determine when the correct position is reached to grab or drop an item The sensor can be a push button switch a pressure sensor or a capacitive sensor This function is made for working on stacks of items with varying item thickness or where the exact positions of the items are not known or too hard to program Stacking Destacking 4 4 7 i ta f d i When programming a seek operation for working on a stack one
94. ndary limit for the robot tool The configuration of the limit can be specified in the Tool Boundary Properties section see 14 11 4 at the bottom of the tab Click the button to toggle the 3D visualization of the boundary limit on off If a boundary limit is active the safety mode see 14 11 3 and 14 11 4 is indicated by one of the following icons amp 14 11 2 3D visualization The 3D View displays the configured safety planes and the orientation boundary limit for the robot tool together with the current position of the robot arm All configured boundary entries where the visibility toggle is selected i e Showing icon in the Sa ety Boundaries section are displayed together with the current selected boundary limit The active safety planes are shown in yellow and black with a small arrow repre senting the plane normal which indicates the side of the plane on which the robot Version 3 0 II 89 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 14 11 Boundaries TCP is allowed to be positioned Trigger planes are displayed in blue and green A small arrow illustrates the side of the plane that does not trigger the transition into Reduced mode If a safety plane has been selected in the panel on the left side of the tab the corresponding 3D representation is highlighted The tool orienta
95. niversal Robots A S All rights reserved UNIVERSAL ROBOTS 11 12 Installation Features File 14 23 20 CCCC Program Installation Move Log TCP Configuration Delete Point 1 Rename Mounting Setup 9 Safety Variables MODBUS client Features Tool X Point 1 Default Program fal Load Save Show axes Move robot here Change this point Joggable Variable Add Line Push this button to add a line feature to the installation A line is defined as an axis between two point features This axis directed from the first point towards the second point will constitute the y axis of the line coordinate system The z axis will be defined by the projection of the z axis of the first sub point onto the plane perpendicular to the line The position of the line coordinate system is the same as the position for the first sub point File 14 23 29 CCCC Q Program Installation Move Log TCP Configuration i I Line 1 Rename Delete Mounting Setup a Safety Variables MODBUS client Features oe Base V Tool 9 Line 1 E X Point 1 X Point 2 Default Program Load Save v Show axes Move robot here Joggable C Variable CB3 II 32
96. nt a Move Comment Waypoint Set oe Pallet amp Pattern Please enter comment ee PalletSequence 9 Approach 9 PatternPoint Set Wait 0 01 9 Exit Destack 9 StartPos amp Direction 9 FromPos 9 ToPos amp PickSequence 9 StackPos eset Wait Waypoint Wait V Folde eo simulation Me Speed c 1009 Previous Next B o Real Robot Gives the programmer an option to add a line of text to the program This line of text does not do anything during program execution Version 3 0 rev 15167 II 51 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 16 Command Loop 12 15 Command Folder File 14 22 57 CCCC Program Installation Move 1 0 Log fl lt unnamed gt Command I Graphics Structure Variables V Robot Program V MoveJ o Waypoint Folder V Moves Waypoint A folder is simply a collection of program lines Set amp Pallet Please enter text to be displayed in the program tree ee Pattern amp Palletsequence 9 Approach 9 PatternPoint Set Wait 0 01 9 Exit eo Destack 9 StartPos ee Direction 9 FromPos 9 ToPos ee PickSequence StackPos Set W
97. o make Version 3 0 II 67 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 28 Graphics Tab changes to a program without destroying the original contents 12 28 Graphics Tab File 142349 CCCC Q Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure Variables Init Variables V Robot Program S ad a V n V Move 9 Waypoint V Movej Waypoint 1 9 Variable Set e Pallet Pattern Square 9 alst 9 a2nd Corne Corner 4j a4th s PalletSequence Approach 9 PatternPoint Set Wait 9 Exit eo Destack StartPos Direction 9 FromPos 9 ToPos ee PickSequence 9 StackPos be 4 Il gt lt gt WV simulation gt Speed c 10096 Previous Next gt Real Robot l i Graphical representation of the current robot program The path of the TCP is shown in the 3D view with motion segments in black and blend segments transi tions between motion segments shown in green The green dots specify the posi tions of the TCP at each of the waypoints in the program The 3D drawing of the robot arm shows the current position of the robot
98. oes not include the program itself These settings can be set using the various screens under the Installation tab except for the I O domains which are set in the 1 0 tab see 11 2 Itis possible to have more than one installation file for the robot Programs created will use the active installation and will load this installation automatically when used Any changes to an installation need to be saved to be preserved after power down If there are unsaved changes in the installation a floppy disk icon is shown next to the Load Save text on the left side of the Installation tab Saving an installation can be done by pressing the Save or Save As button Alternatively saving a program also saves the active installation To load a different installation file use the Load button The Create New button resets all of the settings in the Robot Installation to their factory defaults CAUTION Using the robot with an installation loaded from a USB drive is not recommended To use an installation stored on a USB drive first load it and then save it in the local programs folder using the Save As button CB3 22 Version 3 0 11 6 Installation TCP Configuration UNIVERSAL ROBOTS 11 6 Installation TCP Configuration Q File 142311 CCCC Q Program I Installation Move I O Log TCP Configuration Setup for the Tool Center Point Mounting Setting the Tool Center Point IO Setup TCP Coordinat
99. on tab a dialog appears with the following options 1 Resolve the issue s so that all errors have been removed This will be visible when the red error icon is no longer displayed next to the text Safety on the left side of the screen 2 Revert back to the previously applied Safety configuration This will disregard all changes and allow you to continue to the desired destination If no errors exist and attempting to navigate away a different dialog appears with the following options 1 Apply changes and restart the system This will apply the Safety configuration modifications to the system and restart Note This does not imply that any changes have been saved shutdown of the robot at this point will lose all changes to the robot installation including the Safety configuration 2 Revert back to the previously applied Safety configuration This will disregard all changes and allow you to continue to the desired selected destination 14 3 Tolerances In the Safety Configuration physical limits are set The input fields for these limits are excluding the tolerances where applicable tolerances are displayed next to the field The Safety System receives the values from the input fields and detects any violation of these values The Robot Arm attempts to prevent any violations of the safety system and gives a protective stop by stopping the program execution when the limit minus the tolerance is reached Note that this means that
100. ox is turned on and if no emergency stop button is activated Turning the robot arm on is done in the initialization screen see 9 4 by touching the ON button on that screen and then pressing Start When a robot is started it makes a sound and moves a little while releasing the brakes The power to the robot arm can be turned off by touching the OFF button on the initialization screen The robot arm is also powered off automatically when the control box shuts down 9 1 4 Quick Start To quickly start up the robot after it has been installed perform the following steps 1 Press the Emergency Stop button on the front side of the teach pendant 2 Press the power button on the teach pendant 3 Wait a minute while the system is starting up displaying text on the touch screen 4 When the system is ready a popup will be shown on the touch screen stating that the robot needs to be initialized CB3 4 Version 3 0 9 1 Getting Started UNIVERSAL ROBOTS 5 Touch the button on the popup dialog You will be taken to the initialization screen 6 Wait for the Confirmation of applied Safety Configuration dia log and press the Confirm Safety Configuration button This applies an initial set of safety parameters that need to be adjusted based on a risk assessment 7 Unlock the Emergency Stop button The robot state changes from Emergency Stoppedto Power off 8 Step outside the reach workspace of the robot
101. produced by the robot on the environment considering that the payload is part of the robot and not of the environment Speed A limit for the maximum linear speed of the robot TCP Momentum A limit for the maximum momentum of the robot arm There are two means available for configuring the general safety limits within the installation Basic Settings and Advanced Settings which are described more fully below Defining the general safety limits only defines the limits for the tool and not the overall limits of the robot arm This means that although a speed limit is specified it does not guarantee that other parts of the robot arm will obey this same limitation CB3 II 84 Version 3 0 rev 15167 14 9 General Limits UNIVERSAL ROBOTS When in Teach mode see 11 1 5 and the current speed of the robot TCP is close to the Speed limit the user will feel a repelling force which increases in magnitude the closer the speed comes to the limit The force is generated when the current speed is within approximately 250 m s of the limit Basic Settings The initial general limits subpanel shown as the default screen features a slider with the following predefined sets of values for the general limits in both Normal and Reduced modes Very Restricted Intended to be used where it is particularly dangerous for the robot arm or its payload to hit a human Restricted Intended to be used where there is a high risk of the robot arm or it
102. r digital or analog outputs to a given value Can also be used to set the payload of the robot arm for example the weight that is picked up as a consequence Version 3 0 rev 15167 II 49 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 12 Command Popup of this action Adjusting the weight can be neccesary to prevent the robot from protective stopping unexpectedly when the weight at the tool is different from the expected one 12 12 Command Popup File Program Installat ion Move 1 0 Log 142258 CCCC lt unnamed gt V Move Waypoint Set oe Pallet ee Pattern Approach PatternPoint Set Wait 0 01 9 Exit ee Destack 9 StartPos amp Direction 9 FromPos ToPos PickSequence 9 StackPos Set Wait 9 Waypoint Wait V Folder lt empty gt p3 o Comment Halt amp PalletSequence Popup Graphics Structure Variables a Popup Shows the message below on the screen and waits for the user to press OK Popup type o Message G Warning Q Error Halt program execution at this popup Preview Popup o Real Robot LIGC Speed 100 Previous Ne
103. r have the conflicting variables renamed automat ically 11 11 Installation MODBUS client I O Setup Q File 142314 CCCC Q Program Installation Move 1 0 Log TCP Configuration MODBUS client IO Setup ty Mounting 0 0 0 0 Setup IP 0 0 0 0 8 2 9 Safety o LA Digital Output l 1 3 Variables o Please select 0 _2 Features Default Program 0 0 0 0 Load Save IP 0 0 0 0 ES m L it C Show advanced options 4 the MODBUS client master signals be set up Connections MOD BUS servers or slaves on specified IP addresses can be created with input output signals registers or digital Each signal has a unique name so it can be used in programs Refresh Push this button to refresh all MODBUS connections Add unit Push this button to add a new MODBUS unit Delete unit Push this button to delete the MODBUS unit and all signals on that unit Set unit IP Here the IP address of the MODBUS unit is shown Press the button to change it Add signal Push this button to add a signal to the corresponding MODBUS unit Version 3 0 II 2 7 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 11 11 Installation
104. ram can wait for 100ms and then set it back to low again This can make the main program code a lot simpler in the case on an external machine triggering on a rising flank rather than a high input level Version 3 0 rev 15167 57 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 23 Command Pattern 12 22 Command Thread File 14 23 09 CCCC Program Installation Move 1 0 Log lt unnamed gt Command I Graphics Structure Variables 9 Waypoint a Wait Thread V Folder lt gt A thread is a parallel program that runs along with the main program thread can perform 1 0 Comment wait for signals and set variables Halt Useful for controlling other machines while the robot is running Popup V Loop Bl Script var 1 2 for P Call SubProgram 1 9 V If ee Pallet ee Pattern ee PalletSequence Approach 9 PatternPoint Set E Wait 9 Exit P SubProgram 1 lt en V Thread 1 v x Loops Forever 4 lt gt Track program execution Q Simulation Speed c 00 Previous Next 5 gt o Real Robot A thread is a parallel process to the robot program A thread can be used to
105. reen Joggable Select whether the selected feature shall be joggable This determines whether the feature will appear in the feature menu on the Move screen Variable Select whether the selected feature can be used as a variable If this option is se lected a variable named the name of the feature suceeded by var will then be available when editing robot programs and this variable can be assigned a new value in a program which can then be used to control waypoints that depend on the value of a feature Set or Change Position Use this button to set or change the selected feature The Move screen will appear and a new position of the feature can be set Move Robot to Feature Pressing this button will move the robot arm towards the selected feature At the end of this movement the coordinate systems of the feature and the TCP will coin cide except for a 180 degree rotation about the x axis Add Point Push this button to add a point feature to the installation The position of a point feature is defined as the position of the TCP at that point The orientation of the point feature is the same as the TCP orientation except that the feature coordinate system is rotated 180 degrees about its x axis This makes the z axis of the point feature directed opposite than that of the TCP at that point Version 3 0 II 31 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by U
106. rm CB3 10 Version 3 0 10 On screen Editors 10 1 On screen Keypad DDDEIO ase FIF m X caneet Simple number typing and editing facilities In many cases the unit of the typed value is displayed next to the number Version 3 0 rev 15167 11 Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 10 3 On screen Expression Editor 10 2 On screen Keyboard abcdef lt lt 3 Cancel Simple text typing and editing facilities The Shift key can be used to get some additional special characters 10 3 On screen Expression Editor uy 2 force lt lt and or xor not True HI lt gt i z gt False LO lt Input gt lt Output gt v lt Variable gt z lt Pose gt v lt Function gt v Shift CB3 I 12 Version 3 0 rev 15167 10 4 Pose Editor Screen UNIVERSAL ROBOTS While the expression itself is edited as text the expression editor has a number of buttons and functions for inserting the special express
107. roduced your first robot program that moves the robot between the two given waypoints WARNING 1 Do not drive the robot into itself or anything else as this may cause damage to the robot 2 Keep your head and torso outside the reach workspace of the robot Do not place fingers where they can be caught 3 This is only a quick start guide to show how easy it is to use a UR robot It assumes a harmless environment and a very careful user Do not increase the speed or acceleration above the default values Always conduct a risk assessment before placing the robot into operation 9 2 PolyScope Programming Interface PolyScope runs on the touch sensitive screen attached to the control box CB3 Il 6 Version 3 0 9 2 PolyScope Programming Interface UNIVERSAL ROBOTS PolyScope Robot User Interface Please select Run Program UNIVERSAL ROBOTS Setup Robot About Shutdown Robot The picture above shows the Welcome Screen The bluish areas of the screen are buttons that can be pressed by pressing a finger or the backside of a pen against the screen PolyScope has a hierarchical structure of screens In the programming environment the screens are arranged in tabs for easy access on the screens File 14 22 53 CCCC Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure Variables In this
108. rrect installation settings e g Robot mounting angle weight in TCP TCP offset Save and load the installation files along with the program 2 Make sure that the TCP settings and the robot mounting set tings are set correctly before operating the Teach button If these settings are not correct the robot arm will move when the Teach button is activated 3 The teach function impedance backdrive shall only be used in installations where the risk assessment allows it Tools and obstacles shall not have sharp edges or pinch points Make sure that all personnel remain outside the reach of the robot arm 11 2 Tab File 14 23 39 CCCC Program Installation Move 1 0 Log Robot MODBUS client Digital Input Tool Input eje 00 04 Digital g 1 5 E go o0 30 07 Analog input analog in 2 analog in 0 analog in 1 0 000 Voltage 0 000 V Voltage v 0 000 V Voltage analog in 3 E ov 10 ov 10 0 000V v Digital Output Tool Output 09 9 2 Digital 19 95 2996 Q 97 Analoa output Voltage Current analog 0 analog 1 Current Current Y ma 000 mA 4 0 12 24 20 4 20 simulation o Real Robot On this screen you can always monitor and set the live I O signals from to the robot control box The screen disp
109. s payload hitting a human and the robot arm along with its payload has no sharp edges Default Intended to be used where people are aware of the robot arm and its pay load and or when application has no sharp edges and no pinching hazards Least Restricted Intended to be used where there is little risk of the robot arm or its payload hitting a human such as inside CNC machines behind fences or in hard to reach places These modes are merely suggestions and a proper risk assessment is always re quired Switching to Advanced Settings Should none of the predefined sets of values be satisfactory the Advanced Settings button can be pressed to enter the advanced general limits screen Advanced Settings Q File 14 23 55 CCCC Program Installation Move Log Pee configuration Safety Configuration Mounting General Limits Joint Limits Boundaries Safety 1 0 WO Setup Limit Maximum Normal Mode Reduced Mode Q Safety E Force max 250 N 150 0N Variables p Power max 1000 W 300 0 W MODBUS client Speed max 5000 mm s 1500 150 mm s Features 2 Default Program Momentum max 100 kg m s 25 3 kg m s fal Load Save Basic Settings Lock Apply Version 3 0 II 85 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved
110. see 11 1 5 and the movement of the robot arm comes close to certain limits the user will feel a repelling force This force is generated for limits on the position orientation and speed of the robot TCP and the position and speed of the joints The purpose of this repelling force is to inform the user that the current position or speed is close to a limit and to prevent the robot from violating that limit However if enough force is applied by the user to the robot arm the limit can be violated The magnitude of the force increases as the robot arm comes closer to the limit 14 7 Password Lock All settings on this screen are locked until the correct Safety password see 13 3 is entered in the white text field at the bottom of the screen and the Unlock but ton is pressed The screen can be locked again by clicking the Lock button The Safety tab is automatically locked when navigating away from the Safety Config uration screen When the settings are locked a lock icon is visible next to the text Safety on the left side of the screen An unlock icon is shown when the settings are unlocked NOTE Note that the robot arm is powered off when the Safety Configu ration screen is unlocked 14 8 Apply When unlocking the safety configuration the robot arm will be powered off while changes are being made The robot arm cannot be powered on until the changes have been applied or reverted and a manual power on is performed from the in
111. t TCP is positioned 20 mm or further from the Trigger Reduced mode plane on the Normal mode side the Reduced mode limit set is no longer active and the Normal mode limit set is enforced If the predicted trajectory takes the robot TCP through a Trigger Reduced mode plane the robot arm will start decelerating even before passing through the plane if it is about to exceed joint speed tool speed or momentum limit in the new limit set Note that since these limits are required to be more restrictive in the Reduced mode CB3 92 Version 3 0 14 11 Boundaries UNIVERSAL ROBOTS limit set such premature deceleration can occur only when transitioning from Nor mal to Reduced mode 14 11 4 Tool Boundary configuration Q File 142401 CCCC Program Installation Move 1 0 Log P connguranan Safety Configuration Mounting General Limits Joint Limits Boundaries Safety 0 Setup Safety Boundaries 3D View Safety Safety plane 0 O 868 Variables Safety plane 1 MODBUS client Safety plane 2 amp is Safety plane 3 Features afety plane 4 Default Program Safety plane 5 Load Save Safety pl Safe 6 Safety plane 7 Tool Boundary Tool Boundary Properties Deviation Boundary restricts 35 5 181 1 0 seth M Copy Feature lt Undefined gt v Lock Apply The Tool Boundary Properties panel at th
112. th the current position and orientation of the feature The A icon is also displayed if the selected feature has been deleted from the installation Safety mode The drop down menu on the right hand side of the Safety Plane Properties panel is used to choose the safety mode for the safety plane with the following modes available Disabled The safety plane is never active Normal When the safety system is in Normal mode a Normal mode plane is active and it acts as a strict limit on the position of the robot TCP Reduced When the safety system is in Reduced mode a Reduced mode plane is active and it acts as a strict limit on the position of the robot TCP Normal amp Reduced When the safety system is either in Normal or Re duced mode a Normal amp Reduced mode plane is active and it acts as a strict limit on the position of the robot TCP Trigger Reduced mode When the safety system is either in Normal or Re duced mode a Trigger Reduced mode plane is active and it causes the safety system to switch to Re duced mode for as long as the robot TCP is posi tioned beyond it The selected safety mode is indicated by an icon in the corresponding entry in the Safety Boundaries panel If the safety mode is set to Disabled no icon is shown Displacement When a feature has been selected in the drop down box in the lower left portion of the Safety Plane Properties panel the safety plane can be translated by tapp
113. the Cartesian distance between the tcp in the two positions The angle states how much the tcp orientation changes between the two positions More precisely the length of the rotation vector describing the change in orientation Version 3 0 47 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 9 Command Variable Waypoint 12 9 Command Variable Waypoint File 14 23 47 CCCC Program Installation Move Log lt unnamed gt Command Graphics Structure Variables Init Variables ES Variable position v V Robot Program Variable rename V Move Waypoint V Waypoint 1 Variable Set Pallet Pattern Square 9 alst Corner a2nd 9 a4th Corner s PalletSequence Approach 9 PatternPoint Set Wait 9 Exit eo Destack StartPos g o gt Direction FromPos 9 ToPos Picksequence __ Add waypoint before 9 JES Move the robot to a variable position Use variable 4 gt Add waypoint after Remove this waypoint G Simulation E gt Speed E 10096 Previous gt o Real Robot A waypoint with the posi
114. the basic general limits screen and all general limits are reset to their Default preset Should this cause any customized values to be lost a popup dialog is shown to confirm the action CB3 II 86 Version 3 0 14 10 Joint Limits UNIVERSAL ROBOTS 14 10 Joint Limits Q File 14 23 56 CCCC Program Installation Move 1 0 Log Contiguration Safety Configuration Mounting General Limits Joint Limits Boundaries Safety I O Setup Each of the following joint limits can be configured independently Safety Maximum speed Variables Position range MODBUS client Features Default Program Joints Range Normal Mode Reduced Mode Load Save Minimum Maximum Minimum Maximum Base 363 363 363 363 3 3 Shoulder 363 363 363 363 3 3 Elbow 363 363 363 363 3 3 Wrist 1 363 363 363 363 Wrist 2 363 363 363 363 29 Wrist 3 363 363 363 363 3 3 Lock Apply Joint limits restrict the movement of individual joints in joint space i e they do not refer to Cartesian space but rather to the internal rotational position of the joints and their rotational speed The radio buttons in the upper portion of the subpanel make it possible to independently set up Maximum Speedand Position Range for the joints When in Teach mode see 11 1 5
115. the green icon on it serves to perform the actual initialization of the robot arm The text on it and the action it performs change depending on the current state of the robot arm After the controller PC boots up the button needs to be tapped once to power the robot arm on The robot arm state then turns to Power on and subsequently to Idle Note that when an emergency stop is in place the robot arm cannot be powered on so the button will be disabled When the robot arm state is Idle the button needs to be tapped once again to start the robot arm up At this point sensor data is checked against the configured mounting of the robot arm If a mismatch is found with a tolerance of 30 the button is disabled and an error message is displayed below it If the mounting verification passes tapping the button releases all joint brakes and the robot arm becomes ready for normal operation Note that the robot makes a sound and moves a little while releasing the brakes Ifthe robot arm violates one of the safety limits after it starts up it operates in a special Recovery mode In this mode tapping the button switches to a recovery move screen where the robot arm can be moved back within the safety limits Ifa fault occurs the controller can be restarted using the button f the controller is currently not running tapping the button starts it Finally the smaller button with the red icon on it serves to power off the robot a
116. tion boundary limit is visualized with a spherical cone together with a vector indicating the current orientation of the robot tool The inside of the cone represents the allowed area for the tool orientation vector When a plane or the tool orientation boundary limit is configured but not active the visualization is gray Push the magnifying glass icons to zoom in out or drag a finger across to change the view 14 11 3 Safety plane configuration The Safety Plane Properties section at the bottom of the tab defines the con figuration of the selected safety plane in the Safety Boundaries panel in the upper left portion of the tab Q File 14 23 58 CCCC Program Installation Move Log ate Safety Configuration Mounting General Limits Joint Limits Boundaries Safety 1 0 Setup Safety Boundaries 3D View Safety Safety plane 0 DS Q amp Variables Safety plane 1 Doe MODBUS client safety plane 2 amp e c A Features Sey Rene a Lt IN Default Program s Pun i Load Save 6 N Safety plane 7 FA 1 1 Tool Boundary oj Safety Plane Properties Name Boundary restricts Safety plane 1 9 Normal Displacement X wall o Lock Apply Name The Name text field allows the user to assign a name to the select
117. tion given by a variable in this case calculated pos The variable has to be a pose such as var p 0 5 0 0 0 0 3 14 0 0 0 0 The first three are x y z and the last three are the orientation given as a rotation vector given by the vector rx ry rz The length of the axis is the angle to be rotated in radians and the vector itself gives the axis about which to rotate The position is always given in relation to a reference frame or coordinate system defined by the selected feature The robot arm always moves linearly to a variable waypoint For example to move the robot 20 mm along the z axis of the tool var_l p 0 0 0 02 0 0 0 Movel Waypoint 1 varibale position Use variable var 1 Feature Tool CB3 48 Version 3 0 12 10 Command Wait UNIVERSAL ROBOTS 12 10 Command Wait File 142256 CCCC Program Installation Move 1 0 Log lt unnamed gt Graphics Structure Variables V Robot Program Wait V Movej Please select what should trigger the robot s next action Waypoint V Moves Waypoint Set e Pallet ee Pattern ee PalletSequenc 9 Approach 9 PatternPoin Set Wait Exit o Destack 9 StartPos amp Direction 9 FromPos 9 ToPos s PickSequence 9 StackPos Set Wait Waypoint Wait 9 V Folder e lt empty gt IN 4 il D gt No wait Q wait 0 01 seconds Q wait for Digital Input lt Di input gt Low
118. to perform some of the actions that normally would be accessible by right clicking on a file name in a conventional file dialog Added to this is the ability to move up in the directory structure and directly to the program folder Parent Move up in the directory structure The button will not be enabled in two cases when the current directory is the top directory or if the screen is in the limited mode and the current directory is the program folder Goto program folder Go home Actions Actions such as create directory delete file etc Version 3 0 II 37 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 11 16 Run Tab 11 16 Run Tab File 14 22 52 CCCC O Run Move Log UNIVERSAL ROBOTS Variables Program ABCDE Status Stopped Time 0000d00h00m42 968s This tab provides a very simple way of operating the robot arm and control box with as few buttons and options as possible This can be usefully combined with password protecting the programming part of PolyScope see 13 3 to make the robot into a tool that can run exclusively pre written programs Furthermore in this tab a default program can be automatically loaded and started based on an external input signal edge transition see 11 13 The combination of auto loading and starting of a default program
119. to update the limit with Version 3 0 II 93 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 14 11 Boundaries the current orientation of the feature The A icon is also displayed if the selected feature has been deleted from the installation Safety mode The drop down menu on the right hand side of the Tool Boundary Properties panel is used to choose the safety mode for the tool orientation bound ary The available options are Disabled The tool boundary limit is never active Normal When the safety system is in Normal mode the tool boundary limit is active Reduced When the safety system is in Reduced mode the tool boundary limit is active Normal amp Reduced When the safety system is either in Normal or Re duced mode the tool boundary limit is active The selected safety mode is indicated by an icon in the corresponding entry in the Safety Boundaries panel If the safety mode is set to Disabled no icon is shown Effect Program execution is aborted when the deviation of the tool orientation is about to exceed the entered maximum deviation minus the tolerance see 14 3 if it continues moving along the predicted trajectory Note that the minus sign displayed with the tolerance value is only there to indicate that the tolerance is subtracted from the actual entered value The safety syste
120. ts reserved UNIVERSAL ROBOTS 11 12 Installation Features 11 12 Installation Features File 14 23 15 CCCC Program Installation Move Log TCP Configuration Features Mounting Setup Qs Safety Variables MODBUS client Features Base Tool Default Program Load Save New Point Line Plane Customers that buy industrial robots generally want to be able to control or ma nipulate a robot arm and to program the robot arm relative to various objects and boundaries in the surroundings of the robot arm such as machines objects or blanks fixtures conveyers pallets or vision systems Traditionally this is done by defining frames coordinate systems that relate the internal coordinate system of the robot arm the base coordinate system to the relevant object s coordinate sys tem Reference can both be made to tool coordinates and to base coordinates of the robot arm A problem with such frames is that a certain level of mathematical knowledge is required to be able to define such coordinate systems and also that it takes a con siderable ammount of time to do this even for a person skilled in the art of robot programming and installation Often this task involves the calculation of 4x4 matri ces Particularly the representation of orientation is complicated for a person that lacks the required experience to understand this prob
121. ttons on the lower part of the screen are used to rotate the mounting of the robot arm to match the actual mounting CB3 24 Version 3 0 11 8 Installation I O Setup UNIVERSAL ROBOTS WARNING Make sure to use the correct installation settings Save and load the installation files along with the program 11 8 Installation I O Setup File Program installation Move 1 0 Log TCP Configuration Input Output Setup Mounting Input Names Output Names Setup digital in O default I digital out 0 default a digital_in 1 lt default gt digital_out 1 default Safety digital_in 2 lt default gt digital out 2 default Variables digital in 3 default digital out 3 default MODBUS client digital in 4 default digital out 4 default 3 Features digital in 5 default digital out 5 default digital in 6 default digital out 6 default Default Program Ae 3 digital_in 7 lt default gt digital_out 7 default Load Save tool in 0 default tool out 0 default tool in 1 default tool out 1 default analog in 0 default analog out 0 default analog in 1 defaults analog out 1 default analog in 2 default n config out 0 default zd Rename to Input and output signals can be given names This
122. ubtracted from the actual entered value Nevertheless should the angular velocity of some joint exceed the entered value without tolerance the safety system performs a category 0 stop Position Range This screen defines the position range for each joint This is done by tapping the corresponding text fields and entering new values for the lower and upper joint position boundary The entered interval must fall within the values listed in the column titled Range and the lower boundary cannot exceed the upper boundary Note that the fields for limits in Reduced mode are disabled when neither a safety plane nor a configurable input is set to trigger it see 14 11 and 14 12 for more de tails The tolerances and unit for each limit are listed at the end of the row that corre sponds to it The first tolerance value applies to the minimum value and the second applies to the maximum value Program execution is aborted when the position of a joint is about to exceed the range resulting from adding the first tolerance to the entered minimum value and subtracting the second tolerance from the entered maximum value if it continues moving along the predicted trajectory Note that the minus sign displayed with the tolerance value is only there to indicate that the tolerance is subtracted from the actual entered value Nevertheless should the joint position exceed the entered range the safety system performs a category 0 stop 14 11 Boundaries
123. up the current input signal level is undefined and chosing a transition that matches the signal level on startup will start the program immediately Fur thermore leaving the Run Program screen or pressing the stop button in the Dash board will disable the auto starting feature until the run button has been pressed again CB3 II 34 Version 3 0 11 14 Log Tab UNIVERSAL ROBOTS 11 13 3 Auto Initialization The robot arm can be automatically initialized for instance when the control box is powered up On the specified external input signal edge transition the robot arm will be completely initialized irrespective of the visible screen The final stage of initialization is brake release When the robot is releasing the brakes it moves a bit and makes a sound Furthermore the brakes cannot be au tomatically released if the configured mounting does not match the mounting de tected based on sensor data In this case the robot needs to be initialized manually in the initialization screen see 9 4 Note on startup the current input signal level is undefined and chosing a transition that matches the signal level on startup will initialize the robot arm immediately 11 14 Log Tab File 14 23 40 CCCC O Program Installation Move Log Readings Joint Load Controller Temp 0 0 C Base OK Es 0 0 V Main Voltage 48 0 V Shoulder x 0 0 V Avg Robot Power 12 W Elbo
124. w OK S 0 0 V Robot Current 26A Wrist 1 Es 0 0 V 10 Current 0A Wrist 2 EM 0 0 V Tool Current 0 mA Wrist 3 OK a 0 0 V T 2014 07 23 14 23 40 LO A 2014 07 23 14 22 38 000 RobotInterface C102A0 Real Robot not connected Simulating Robot a gt Clear Robot Health The top half of the screen displays the health of the robot arm and control box The left part shows information related to the control box of the robot while the right part shows information about each robot joint Each robot joint shows information for temperaure of the motor and electronics the load of the joint and the voltage at the joint Robot Log On the bottom half of the screen log messages are shown The first column categorizes the severity of the log entry The second column shows the time of arrival of the message The next column shows the sender of the message While the last column shows the message itself Messages can be filtered by selecting the toggle buttons which correspond to the severity The figure above now shows that Version 3 0 II 35 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 11 15 Load Screen errors will be displayed while information and warning messages will be filtered Some log messages are designed to provide more information this can be accessed by selecting the log entry 11 15 Load Scree
125. xt gt The popup is a message that appears on the screen when the program reaches this command The style of the message can be selected and the text itself can be given using the on screen keyboard The robot waits for the user operator to press the OK button under the popup before continuing the program If the Halt program execution item is selected the robot program halts at this popup CB3 II 50 Version 3 0 12 13 Command Halt UNIVERSAL ROBOTS 12 13 Command Halt File 14 22 57 CCCC Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure Variables 9 Waypoint a V Move H a It Waypoint Set oo Pallet e Pattern PalletSequence Approach 9 PatternPoint Set Wait 0 01 9 Exit ee Destack StartPos amp amp Direction 9 FromPos ToPos oe PickSequence 9 StackPos Set Wait Waypoint Wait V Folder Program execution stops at this point o o Simulation gt Speed 00 Previous Next o Real Robot The program execution stops at this point 12 14 Command Comment File 142257 CCCC Q Program Installation Move 1 0 Log lt unnamed gt Command I Graphics Structure Variables V ES Waypoi
126. xt gt o Real Robot The Variables tab shows the live values of variables in the running program and keeps a list of variables and values between program runs It only appears when it has information to display The variables are ordered alphabetically by their names The variable names on this screen are shown with at most 50 characters and the values of the variables are shown with at most 500 characters CB3 11 70 Version 3 0 rev 15167 12 31 Command Variables Initialization UNIVERSAL ROBOTS 12 31 Command Variables Initialization File 14 23 10 CCCC Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure Variables Init Variables Robot Program Initial Variable Values V Move Waypoint V Move The variable Loop 1 has no initial value 9 Waypoint cnt 120 cet e cnt_2 0 Pallet interpolate 1 0 0 s Pattern Square alst 2 Corne 9 a3rd_Cornen 9 a4th Cornen J Peo n The variable pose 1 has no initial value The variable pose 2 has no initial value The variable pose 3 has no initial value The variable var 1 has no initial value Approach 9 PatternPoin Set Wait 9 Exit ee Destack 9 StartPos amp Direction FromPos 9 ToPos o PickSequence StackPos Variable Expression m Clear Expression foo Bis

PolyScope Manual Version 3.0 (rev. 15167)

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